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Chapter 2

Chapter 3 discusses the weighted residual and energy methods for solving 1D problems in finite element analysis. It highlights the limitations of the direct stiffness method and introduces systematic approaches like the Galerkin method and the principle of minimum potential energy to derive finite element equations. The chapter also covers the importance of trial functions, domain discretization, and the application of the energy method to obtain finite element equations.

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0% found this document useful (0 votes)
2 views47 pages

Chapter 2

Chapter 3 discusses the weighted residual and energy methods for solving 1D problems in finite element analysis. It highlights the limitations of the direct stiffness method and introduces systematic approaches like the Galerkin method and the principle of minimum potential energy to derive finite element equations. The chapter also covers the importance of trial functions, domain discretization, and the application of the energy method to obtain finite element equations.

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elteyebeljack
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CHAP 3 WEIGHTED RESIDUAL AND

ENERGY METHOD FOR 1D PROBLEMS

FINITE ELEMENT ANALYSIS AND DESIGN


Nam-Ho Kim

1
INTRODUCTION
• Direct stiffness method is limited for simple 1D problems
• FEM can be applied to many engineering problems that are
governed by a differential equation
• Need systematic approaches to generate FE equations
– Weighted residual method
– Energy method
• Ordinary differential equation (second-order or fourth-order)
can be solved using the weighted residual method, in
particular using Galerkin method
• Principle of minimum potential energy can be used to derive
finite element equations

2
EXACT VS. APPROXIMATE SOLUTION
• Exact solution
– Boundary value problem: differential equation + boundary conditions
– Displacements in a uniaxial bar subject to a distributed force p(x)

– Essential BC: The solution value at a point is prescribed (displacement


or kinematic BC)
– Natural BC: The derivative is given at a point (stress BC)
– Exact solution u(x): twice differential function
– In general, it is difficult to find the exact solution when the domain
and/or boundary conditions are complicated
– Sometimes the solution may not exists even if the problem is well
defined
3
EXACT VS. APPROXIMATE SOLUTION cont.
• Approximate solution
– It satisfies the essential BC, but not natural BC
– The approximate solution may not satisfy the DE exactly
– Residual:

– Want to minimize the residual by multiplying with a weight W and


integrate over the domain

Weight function

– If it satisfies for any W(x), then R(x) will approaches zero, and the
approximate solution will approach the exact solution
– Depending on choice of W(x): least square error method, collocation
method, Petrov-Galerkin method, and Galerkin method

4
GALERKIN METHOD
• Approximate solution is a linear combination of trial functions

Trial function

– Accuracy depends on the choice of trial functions


– The approximate solution must satisfy the essential BC
• Galerkin method
– Use N trial functions for weight functions

5
GALERKIN METHOD cont.
• Galerkin method cont.
– Integration-by-parts: reduce the order of differentiation in u(x)

– Apply natural BC and rearrange

– Same order of differentiation for both trial function and approx. solution
– Substitute the approximate solution

6
GALERKIN METHOD cont.
• Galerkin method cont.
– Write in matrix form

– Coefficient matrix is symmetric; Kij = Kji


– N equations with N unknown coefficients

7
EXAMPLE1
• Differential equation Trial functions

• Approximate solution (satisfies the essential BC)

• Coefficient matrix and RHS vector

8
EXAMPLE1 cont.
• Matrix equation

• Approximate solution

– Approximate solution is also the exact solution because the linear


combination of the trial functions can represent the exact solution

9
EXAMPLE2
• Differential equation Trial functions

• Coefficient matrix is same, force vector:

• Exact solution

– The trial functions cannot express the exact solution; thus,


approximate solution is different from the exact one

10
EXAMPLE2 cont.
• Approximation is good for u(x), but not good for du/dx

11
HIGHER-ORDER DIFFERENTIAL EQUATIONS
• Fourth-order differential equation

– Beam bending under pressure load


• Approximate solution

• Weighted residual equation (Galerkin method)

– In order to make the order of differentiation same, integration-by-parts


must be done twice

12
HIGHER-ORDER DE cont.
• After integration-by-parts twice

• Substitute approximate solution

– Do not substitute the approx. solution in the boundary terms


• Matrix form

13
EXMAPLE
• Fourth-order DE

• Two trial functions

• Coefficient matrix

14
EXAMPLE cont.
• RHS

• Approximate solution

• Exact solution

15
EXAMPLE cont.

16
FINITE ELEMENT APPROXIMATION
• Domain Discretization
– Weighted residual method is still difficult to obtain the trial functions
that satisfy the essential BC
– FEM is to divide the entire domain into a set of simple sub-domains
(finite element) and share nodes with adjacent elements
– Within a finite element, the solution is approximated in a simple
polynomial form

– When more number of finite elements are used, the approximated


piecewise linear solution may converge to the analytical solution
17
FINITE ELEMENT METHOD cont.
• Types of finite elements

1D 2D 3D

• Variational equation is imposed on each element.

One element

18
TRIAL SOLUTION
– Solution within an element is approximated using simple polynomials.

– i-th element is composed of two nodes: xi and xi+1. Since two


unknowns are involved, linear polynomial can be used:

– The unknown coefficients, a0 and a1, will be expressed in terms of


nodal solutions u(xi) and u(xi+1).

19
TRIAL SOLUTION cont.
– Substitute two nodal values

– Express a0 and a1 in terms of ui and ui+1. Then, the solution is


approximated by

– Solution for i-th element:

– Ni(x) and Ni+1(x): Shape Function or Interpolation Function

20
TRIAL SOLUTION cont.
• Observations
– Solution u(x) is interpolated using its nodal values ui and ui+1.
– Ni(x) = 1 at node xi, and =0 at node xi+1.
Ni(x) Ni+1(x)

xi xi+1
– The solution is approximated by piecewise linear polynomial and its
gradient is constant within an element.

– Stress and strain (derivative) are often averaged at the node.

21
GALERKIN METHOD
• Relation between interpolation functions and trial functions
– 1D problem with linear interpolation

– Difference: the interpolation function does not exist in the entire


domain, but it exists only in elements connected to the node
• Derivative

22
EXAMPLE
• Solve using two equal-length elements

• Three nodes at x = 0, 0.5, 1.0; displ at nodes = u1, u2, u3


• Approximate solution

23
EXAMPLE cont.
• Derivatives of interpolation functions

• Coefficient matrix

• RHS

24
EXAMPLE cont.
• Matrix equation
Consider it as unknown

• Striking the 1st row and striking the 1st column (BC)

• Solve for u2 = 0.875, u3 = 1.5


• Approximate solution

– Piecewise linear solution

25
EXAMPLE cont.
• Solution comparison
• Approx. solution has about
8% error
• Derivative shows a large
discrepancy
• Approx. derivative is
constant as the solution is
piecewise linear

26
FORMAL PROCEDURE
• Galerkin method is still not general enough for computer code
• Apply Galerkin method to one element (e) at a time
• Introduce a local coordinate

• Approximate solution within the element

Element e

27
FORMAL PROCEDURE cont.
• Interpolation property

• Derivative of approx. solution

• Apply Galerkin method in the element level

28
FORMAL PROCEDURE cont.
• Change variable from x to ξ

– Do not use approximate solution for boundary terms


• Element-level matrix equation

29
FORMAL PROCEDURE cont.
• Need to derive the element-level equation for all elements
• Consider Elements 1 and 2 (connected at Node 2)

• Assembly
Vanished
unknown term

30
FORMAL PROCEDURE cont.
• Assembly of NE elements (ND = NE + 1)

• Coefficient matrix [K] is singular; it will become non-singular


after applying boundary conditions

31
EXAMPLE
• Use three equal-length elements

• All elements have the same coefficient matrix

• Change variable of p(x) = x to p(ξ):


• RHS

32
EXAMPLE cont.
• RHS cont.

• Assembly

Element 1
Element 2
Element 3

• Apply boundary conditions


– Deleting 1st and 4th rows and columns

33
EXAMPLE cont.
• Approximate solution

• Exact solution

– Three element solutions are poor


– Need more elements

34
ENERGY METHOD
• Powerful alternative method to obtain FE equations
• Principle of virtual work for a particle
– for a particle in equilibrium the virtual work is identically equal to zero
– Virtual work: work done by the (real) external forces through the virtual
displacements
– Virtual displacement: small arbitrary (imaginary, not real) displacement
that is consistent with the kinematic constraints of the particle
• Force equilibrium

• Virtual displacements: δu, δv, and δw


• Virtual work

• If the virtual work is zero for arbitrary virtual displacements,


then the particle is in equilibrium under the applied forces
35
PRINCIPLE OF VIRTUAL WORK
• Deformable body (uniaxial bar under body force and tip force)
x
E, A(x)
F
Bx

• Equilibrium equation: This is force equilibrium


• PVW

• Integrate over the area, axial force P(x) = Aσ(x)

36
PVW cont.
• Integration by parts

– At x = 0, u(0) = 0. Thus, δu(0) = 0


– the virtual displacement should be consistent with the displacement
constraints of the body
– At x = L, P(L) = F
• Virtual strain
• PVW:

37
PVW cont.
• in equilibrium, the sum of external and internal virtual work is
zero for every virtual displacement field
• 3D PVW has the same form with different expressions
• With distributed forces and concentrated forces

• Internal virtual work

38
VARIATION OF A FUNCTION
• Virtual displacements in the previous section can be
considered as a variation of real displacements
• Perturbation of displ u(x) by arbitrary virtual displ δu(x)

• Variation of displacement

Displacement variation

• Variation of a function f(u)

• The order of variation & differentiation can be interchangeable

39
PRINCIPLE OF MINIMUM POTENTIAL ENERGY
• Strain energy density of 1D body

• Variation in the strain energy density by δu(x)

• Variation of strain energy

40
PMPE cont.
• Potential energy of external forces
– Force F is applied at x = L with corresponding virtual displ δu(L)
– Work done by the force = Fδu(L)
– The potential is reduced by the amount of work
F is constant
virtual displacement
– With distributed forces and concentrated force

• PVW

– Define total potential energy

41
EXAMPLE: PMPE TO DISCRETE SYSTEMS
• Express U and V in terms of u2
displacements, and then F3
1 2 3
differential Π w.r.t displacements
1
• k(1) = 100 N/mm, k(2) = 200 N/mm 3 F3
k(3) = 150 N/mm, F2 = 1,000 N 2 u3
F3 = 500 N u1

• Strain energy of elements (springs)

42
EXAMPLE cont.
• Strain energy of the system

• Potential energy of applied forces

• Total potential energy

43
EXAMPLE cont.
• Total potential energy is minimized with respect to the DOFs

Finite element equations


• Global FE equations

• Forces in the springs

44
RAYLEIGH-RITZ METHOD
• PMPE is good for discrete system (exact solution)
• Rayleigh-Ritz method approximates a continuous system as a
discrete system with finite number of DOFs
• Approximate the displacements by a function containing finite
number of coefficients
• Apply PMPE to determine the coefficients that minimizes the
total potential energy
• Assumed displacement (must satisfy the essential BC)

• Total potential energy in terms of unknown coefficients

• PMPE

45
EXAMPLE
bx
F

• L = 1m, A = 100mm2, E = 100 GPa, F = 10kN, bx = 10kN/m


• Approximate solution
• Strain energy

• Potential energy of forces

46
EXAMPLE cont.
• PMPE

• Approximate solution
• Axial force
• Reaction force

47

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