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Fundamental Finite Element Analysis and Applications

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Fundamental Finite Element Analysis and Applications

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FUNDAMENTAL FINITE ELEMENT ANALYSIS AND APPLICATIONS With Mathematica® and MATLAB® Computations M. ASGHAR BHATTI wiLey JOHN WILEY & SONS, INC. opTt-gtittPHANES! METU LIBRARY AK Mathematica a ceiterd adem of Wom Resear, [MATLAB lea eistred demic of Toe Mth Woks, Ie. ANSYS isa registered tadamurk of ANSYS, Ine. ‘ABAQUS is aregisteel ademark of ABAQUS, Ie. ‘This book is printed on acid-free popet. ©} Copyright © 2005 by Joba Wiley & Son, Ine. Aleighsesred. Published by ohn Wiley & Sons, ne, Hoboken, New Jeey ‘Publisedsimtaneouly in Cad, "Nout fis publication maybe eproduss, stored ia a seieal syst or wasted in ay foro by any ‘mean, letonie, mechanical, photocopying recoding caning or otecwise excep es permed under ‘Seain 107 o 108 of tho 1976 United Sates Copyright Act witout ter he ror write permission of be Publisher, oathorization trop payment of te appropri pe-copy fet the Copyright Carne Cee, 1222 Rosewood Deve, Dares, MA 01923, 978) 730-4400 fax 78) 70-4470, or onthe web at ‘wormeopyrih.com, Regus ote Publisher fr peso shouldbe sete othe Permissions Deparment John Wiley & Sons, le, 111 River Stet, Hoboken, NI GEO, (201) 7486011, fax (201) 48-608, eal: pcoottnnoe wie co Lint of LishtyDiscimer of Waray: While he publisher and author have used tel bst eos in ‘rearing his book, they make no epresentians or Wwrantes with spect the accway or copletenes of ‘heconens of tis book and specially dieaim an implied yaanties of mechani or ines fra ‘patculr purpose. No wameny many be cet or extoded by eles reperemtntves or write sles atl, ‘Th advice and suetegies contained heen may no be sible for your siustion. You sould ons wit a professional wae appropiate, Nether the publishes nor ator eal be able fo any os proto anyother ‘commercial damages, nlung bt notin to pei ncidet, consequent, oroe rages. For gene infomation on ou ter procs and serves or fo technic suport, plese contact ue Customer ‘Care Department wii be United States (90) 7622974, ouside the United Stes at (317) 572-3583 or ax Grn srisoon ‘Wiley sao pblshas its Book ina varity of electron format, Some content ht eps pit my nt be sable in eleseoic books, Fo more information boat Wiley products, ws our Web teat ww ‘Library of Congress Catalogingin-Pubieation Data Bhat M. Asa Fundamental fae clemont analysis and pplication: wih Mathematica zd Mat computations. Asghar Bhat 1, Sever snl Eagesing) 2, Pinte lemon method J. Te meen ‘Tass6.n56 2005 620° 1's1825—ae22 Meru LIBRARY otter wii uname CONTENTS CONTENTS OF THE BOOK WEB SITE xi PREFACE xi 1 FINITE ELEMENT METHOD: THE BIG PICTURE 1 : 1.1 Discretization and Element Equations / 2 12 | 13 | | 4 1s LAA Plane Truss Blement / 4 1.1.2. ‘Triangular Element for Two-Dimensional Heat Flow / 7 1.13 General Remarks on Finite Blement Discretization / 14 1.14 Triangular Element for Two-Dimensional Stress Analysis / 16 Assembly of Element Equations / 21 ‘Boundary Conditions and Nodal Solution / 36 1.3.1 Essential Boundary Concitions by Rearranging Equations / 37 1,32. Essential Boundary Conditions by Modifying Equations / 39 1.33. Approximate Treatment of Essential Boundary Conditions / 40 134 Computation of Reactions to Verify Overall Equilibrium / 41 Element Solutions and Model Validity / 49 14.1 Plane Truss Blement / 49 142 ‘Triangular Blement for Two-Dimensional Heat Flow / 51 1.43. Triangular Element for Two-Dimensional Stress Analysis / 54 Solution of Linear Equations / 58 15.1 Solution Using Choleski Decomposition / 58 1.5.2 Conjugate Gradient Method / 62 conrents 16 Ww Multipoint Constraints / 72 1.6.1 Solution Using Lagrange Multipliers / 75 1.62 Solution Using Penalty Function / 79 Units / 83 2. MATHEMATICAL FOUNDATION OF THE FINITE ELEMENT METHOD 98 2a 22 23 24 28 26 27 Axial Deformation of Bars / 99 2.1.1 Differential Equation for Axial Deformations / 99 2.1.2 Exact Solutions of Some Axial Deformation Problems / 101 Axial Deformation of Bars Using Galerkin Method / 104 2.2.1 Weak Form for Axial Deformations / 105 22.2 Uniform Bar Subjected to Linearly Varying Axial Load / 109 2.2.3 Tapered Bar Subjected to Linearly Varying Axial Load / 113, One-Dimensional BYP Using Galerkin Method / 115 23.1 Overall Solution Procedure Using Galerkin Method / 115, 23.2. Higher Order Boundary Value Problems / 119 Rayleigh-Ritz Method / 128 24.1 Potential Energy for Axial Deformation of Baré / 129 24.2 Overall Solution Procedure Using the Rayleigh-Ritz Method / 130 24.3 Uniform Bar Subjected to Lineazly Varying Axial Load / 131 24.4 Tapered Bar Subjected to Lineasly Varying Axial Load /.133 ‘Comments on Galerkin and Rayleigh-Ritz Methods / 135 25. Admissible Assumed Solution / 135, 25.2 Solution Convergence—the Completeness Requirement / 136 253 Galerkin versus Rayleigh-Ritz / 138 Finite Element Form of Assumed Solutions / 138 2.6.1 _ Linear Interpolation Functions for Second-Order Problems 139 2.62 Lagrange Interpolation / 142 263 Galerkin Weighting Functions in Finite Blement Form / 143 264 Hermite Interpolation for Fousth-Ordes Problems / 144 Finite Element Solution of Axial Deformation Problems / 150 2.1 Two-Node Uniform Bar Element for Axial Deformations / 150 29.2 Numerical Examples / 155 3. ONE-DIMENSIONAL BOUNDARY VALUE PROBLEM 173 34 Selected Applications of 1D BYP / 174 3.11 Steady-State Heat Conduction / 174 3.12 Heat Flow through Thin Fins / 175 contents 3.13 Viscous Fluid Flow between Parallel Plates—Lubrication Problem / 176 3.1 Slider Bearing / 177 3.1.5 Axial Deformation of Bars / 178 3.1.6 Elastic Buckling of Long Slender Bars / 178 3.2. Finite Element Formulation for Second-Order 1D BYP / 180 3.2.1 Complete Solution Procedure 186 3.3 Steady-State Heat Conduction / 188 3.4 Steady-State Heat Conduction andl Convection / 190 35. Viscous Fluid Flow Between Parallel Plates / 198 3.6 Elastic Buckding of Bars / 202 3.7. Solution of Second-Order 1D BVP / 208 3.8 A Closer Look at the Interelement Derivative Terms / 214 ‘TRUSSES, BEAMS, AND FRAMES 202 4.1 Plane Trusses / 223 42. Space Trusses / 227 43° Temperature Changes and Initial Strains in Trusses / 231 44° Spring Elements / 233 455 Transverse Deformation of Beams / 236 45.1 Differential Equation for Beani Bending / 236 452. Boundary Conditions for Beams / 238 453. Shear Stresses in Bears / 240 454 Potential Energy for Beam Bending / 240 4.55 Transverse Deformation of a Uniform Beam / 241 4.5.6 Transverse Deformation of a Tapered Beam Fixed at Both Ends / 242 46 ‘Two-Node Beam Element / 244 46.1. Cubic Assumed Solution / 245, 4.62. Blement Equations Using Rayleigh-Ritz Method / 246 4.7. Uniform Beams Subjected to Distributed Loads / 259 48° Plane Frames / 266 49° Space Frames /-279 49.1. Element Equations in Local Coordinate System / 281 49.2 Local-to-Global Transformation / 285 49.3 Blement Solution / 289 4,10 Frames in Multistory Buildings / 293 5 TWO-DIMENSIONAL ELEMENTS ait 5.1 Selected Applications of the 2D BVP / 313 5.11 ‘Two-Dimensional Potential Flow / 313 5.12 Steady-State Heat Flow / 316 5.13 Bars Subjected to Torsion / 317 5.14 Waveguides in Electromagnetics / 319 5.2 Integration by Parts in Higher Dimensions / 320 5.3 Finite Element Equations Using the Galerkin Method / 325 5.4 Rectangular Finite Elements / 329 54.1 Four-Node Rectangular Element / 329 54.2 BightNode Rectangular Element / 346 5.43 Lagrange Interpolation for Rectangular Elements / 350 5.5. Tiiangular Finite Elements / 357 55.1 Three-Node Triangular Element / 358 5.5.2 Higher Order Triangular Elements 371 6 MAPPED ELEMENTS 381 6.1 Integration Using Change of Variables / 382 6.1.1 One-Dimensional Integrals / 382 6.1.2 Two-Dimensional Area Integrals / 383 6.1.3 Three-Dimensional Volume Integrals / 386 62 Mapping Quadrilaterals Using Interpolation Functions J 387 62.1 Mapping Lines / 387 62.2 Mapping Quadrilateral Areas / 392 62.3 Mapped Mesh Generation / 405 63 Numerical Integration Using Gauss Quadrature / 408 63.1 Gauss Quadrature for One-Dimensional Integrals / 409 63.2 Gauss Quadrature for Atea Integrals / 414 63.3 Gauss Quadrature for Volume Integrals / 417 64 Finite Element Computations Involving Mapped Elements / 420 64.1, Assumed Solution / 421 64.2 Derivatives ofthe Assumed Solution / 422 643° Evaluation of Area Integrals / 428 644 Evaluation of Boundary Integrals / 436 65 Complete Mathematica and MATLAB Solutions of 2D BVP Involving ‘Mapped Elements / 441 6.6 Tiiangular Elements by Collapsing Quadsilaterals / 451 67 Infinite Elements / 452 64.1 One-Dimensional BVP / 452 67.2 ‘Two-Dimensional BVP / 458 conrents ie 7 ANALYSIS OF ELASTIC SOLIDS 467 711. andanetal Concepts in lity / 467 TAL Stesses / 467 7112. Suess Pilure Caiteria 1472 743. Suxins / 475 74 Constitutive Equtons / 478 7115 Tenipratre Effects and Tia Stains 480 12 Governing Diferenal Equations / 480 721. Stes Equilibrium Equations / 481 7122 Governing Differential Equations in Terms of Displacements / 482 13. General Form of Finite Bement Equations / 484 713.1, Potetial Energy Functional / 484 732. Week Form / 485 733. Finite Element Batons / 486 1134 Finite Element Equations inthe Presence of nial Stains 489 7A. Plane Stress and Pane Stn / 490 TAA Plane Stress Problem / 452 7A2 Plane Sein Problem / 493 743 Finite Bement Equations 495 1A Tueo-Node Tianglar Element / 497 74S. Mapped Quaateral Femens / 508 75. Plant Finite Element Models / 517 754 Pressure Vessels / 517 1752 Rotating Disks and Fywhels 524 753 Residual Steses Due to Welding / 530 154 Crack Tip Singulaty (531 ‘TRANSIENT PROBLEMS 545, 8.1 Transient Field Problems / 545 8.1.1 Finite Element Equations / $46 8.1.2 Triangular Element / 549 8.13 Transient Heat Flow / 551 Blastio Solids Subjected to Dynamic Loads / 557 8.2.1 Finite Blement Equations / 559 82.2 Mass Matrices for Common Structural Elements / 561 82.3. Free-Vibration Analysis / 567 8.2.4 Transient Response Examples / 573, contents 9 p-FORMULATION 9.1 _p-Formulation for Second-Order 1D BVP / 586 9.1.1 Assumed Solution Using Legendre Polynomials / 587 9.1.2 Blement Equations / 591 9.1.3 Numerical Examples / 593 9.2. p-Formulation for Second-Order 2D BYP / 604 9.2.1 p-Mode Assumed Solution J 605 9.2.2 Finite Element Equations / 608 9.2.3 Assembly of Element Equations / 617 9.24 Incorporating Essential Boundary Conditions / 620 92.5 Applications / 624 ‘A USE OF COMMERCIAL FEA SOFTWARE A ANSYS Applications / 642 ALLL General Steps / 643, A.L2 Truss Analysis / 648 A113. Steady-State Heat Flow / 651 A.L4 Plane Suess Analysis / 655 A2 Optimizing Design Using ANSYS / 659 AA General Steps / 659 22 Heat Flow Example / 660 A3_ ABAQUS Applications / 663 A3.1 Execution Procedure / 663 A3.2 Truss Analysis / 665 A33_ Steady-State Heat Flow / 666 A34 Plane Stress Analysis / 671 B_ VARIATIONAL FORM FOR BOUNDARY VALUE PROBLEMS B.1 Basic Concept of Variation of a Function / 676 B2_ Derivation of Equivalent Variational Form / 679 B.3. Boundary Value Problem Corresponding toa Given Functional / 683 BIBLIOGRAPHY INDEX 586 ea 676 687 695 CONTENTS OF THE BOOK WEB SITE (www.wiley.com/go/bhatti) ABAQUS Applications AbagusUse\ AbaqusExecutionProcedure pdf AbaqustUse\HeatFlow AbagusUse\PlaneStress AbaqustUse\TnussAnalysis ANSYS Applications ‘AnsysUse\AppendixA AnsysUse\Chaps AnsystUse\Chap7 AnsysUse\Chap8 ‘AnsysUse\GeneralProcediure,paf ull Detail Text Examples Full Detail Text Examples\Chapl Examples pat Full Detail Text Examples\Chap2Examples.paf Fall Detail Text Examples\Chap3Examples.pdf Full Detail Text Examples\Chap4Examples.paf Full Detail Text Examples\ChapSExamples pat Pll Detail Text Examples\Chap6Examples.pd Full Detail Text Examples\Chap7Examples.paf (CONTENTS OF THE SOOK We® SITE Full Detail Text Examples\Chap8Examples pdf Full Detail Text Examples\ChapExamples pat ‘Mathematica Applications ‘MathematicaU'se\MathChap1.nb ‘Mathematicalse\MathChap2.nb ‘MathematicaUse\MathChep3.nb ‘MathematicaUse\MathChap4.nb “MathematicaUse\MathChap5.b ‘MathematicaUse\MathChap6.nb ‘MathematicaUse\MathChap7.nb MathematicaUse\MathChap8.ib ‘MathermaticaUse\Mathematica Introduction ib MATLAB Applications MatlabFiles\Chapl MatlabFiles\Chap2 MatlabFiles\Chap3 MatlabFiles\Chap4 MatlabFiles\Chap5 ‘MatlabFiles\Chep6 ‘MatlabFiles\Chap7 ‘MatlabFiles\Chap8 ‘Matlab Files\Common ‘ ‘Sample Course Outlines, Lectures, and Examinations ‘Supplementary Material and Corrections PREFACE Large numbers of books have been writen onthe finite element method. However, fective teaching of the method using most existing books is a dificult task. The vast majority of current books presen the finite element method as an extension ofthe conventional matrix, structural analysis methods. Using this approach, one can teach the mechanical aspects of the finite clement method fairly wel, but there are no satsfctory explanations for even the simplest theoretical questions. Why are rotational degrees of freedom defined forthe beam and plate clement but not for the plane stress and truss elements? What is wrong ‘with connecting comer nodes of a planar four-node element tothe midside nodes of an cight-node element? The application ofthe method to nonstructural problems is possible ‘only if one can interpret problem parameters in terms of thee structural counterparts, For ‘example, one can solve heat transfer probléms because temperature can be interpreted as Aisplacement ina stuctarl problem. ‘More recently, several new textbooks on finite elements have appeared that emphnsize the mathematical basis of the finite element method. Using some ofthese books, the f= nite clement method can be presented as a metod for obaining epproximate solution of ordinary and partial differential equations. The choice of appropriate degrees of freedom, boundary conditions, tal solutions, et, can now be fully explained with this theoreti- cal background. Hosiever, the vast majority of these books tend tobe too theoretical and do not present enough computational detils and examples to be of valu, especially to undergraduate and first-year graduate students in engineering. ‘The finite element courses face one more hurile, One needs to perform computations inorder wo effectively lean the finite clement techniques. However, typeal finite element calouations are very long and tedious, especially those involving mapped elements, In fact, some ofthese calculations are essentially impossible to peronn by hand, To alleviate this situation, instructors generally rely on programs writen in FORTRAN or some other xv PRERACE conventional programming language. Infact, there are several books available that include. these types of programs with them, However, realistically, in a typical one-semester course, ‘most students cannot be expected to fully understand these programs. At best they use therm as black boxes, which obviously does not help in learning the concepts. In addition to traditional research-oriented students, effective finite element courses ‘must also cater to the needs and expectations of practicing engineers and others interested only in the finite element applications. Knowing the theoretical details alone does not help in creating appropriate models for practical, and often complex, engineering systems. ‘This book is intended to strike an appropriate balance among the theory, generality, and practical applications of the finite element method. The method is presented as a fairly straightforward extension ofthe classical weighted residual and the Rayl for approximate solution of differential equations. The theoretical details are presented in ‘an informal style eppealing to the reader's intuition rather than mathematical rigor. To make the concepts clear, all computational details are fully explained and numerous examples are included showing all calculations. To overcome the tedious nature of calculations associ- ated with finite elements, extensive use of MATLAB® and Mathematica® is made in the book. All finite element procedures are implemented in the form of interactive Mathemat- ica notebooks and easy-to-follow MATLAB code. All necessary computations are readily ‘apparent from these implementations. Finally, to address the practical applications of the: finite element method, the book integrates a series of computer laboratories and projects that involve modeling and solution using commercial finite element software, Short tuto- rials and carefully chosen sample applications of ANSYS and ABAQUS are contained in the book. ‘The book is organized in such a way that it can be used very effectively in a lecture/ ‘computer laboratory (lab) format. In over 20 years of teaching finite elements, using a variety of approaches, the author has found that presenting the material in a two-hour lecture and one-hour lab per week is ideally suited for the first finite element course. The lecture part develops suitable theoretical background while the lab portion gives students ‘experience in finite element modeling and actual applications. Both parts should be taught in parallel. Of course, it takes time to develop the appropriate theoretical background in ‘the lecture part. The lab par, therefore, is ahead of the lectures and, in the initial stages, students are using the finite element software essentially a8 a black box, However, this approach has two main advantages, The first is that students have some time to get familiar with the particular computer system and the finite element package being utilized. The second, and more significant, advantage is that it raises students" curiosity in learning more about why things must be done in a certain way. During early labs students often encounter errors such as “negative pivot found” or “zero or negative Jacobian for element.” When, during the lecture part, they find out mathematical reasons for such errors, it makes them appreciate the importance of learning theory in order to become better users of the finite element technology. ‘The author also feels strongly that the labs must utilize one of the several commercially available packages, instead of relying on simple home-grown programs. Use of commer- cial programs exposes students to at least one state-of-the-art finite element package with its built-in or associated pre- and postprocessors. Since the general procedures are very similar among different programs, its relatively easy to lear a different package after this PREFACE exposure. Most commercial programs also include analysis inodules for linear and nonlin- car static and dynamic analysis, buckling, fui flow, optimization, end fatigue. Thus with these packages students can be exposed to a variety of finite element applications, even though there generally is not enough time to develop theoretical details of all these topics in one finite element course. With more applications, students also perceive the course a8, ‘more practical and seem to put more effort into learning. ‘TOPICS COVERED ‘The book covers the fundamental concepts and is designed for a frst course on finite ele~ ‘ments suitable for upper division undergraduate students and first-year graduate students. It presents the finite element method as a tool to find approximate solution of differential ‘equations and thus can be used by students from a variety of disciplines. Applications cov- ‘ered include heat flow, stress analysis, uid flow, and analysis of structural frameworks. ‘The material i presented in nine chapters and two appendixes as follows. 1. Finite Element Method: The Big Picture. This chapter presents an overview of the finite element method. To give a clear idea of the solution process, the finite element equa tions for afew simple elements (plane trus, heat flow, and plane stress) are presented inthis chapter. A few general remarks on modeling and discretization are also included. Important ‘steps of assembly, handling boundary conditions, and solutions for nodal unknowns and el- ‘ement quantities are explained in detail in this chapter. These steps are fairly mechanical in nature and do not require complex theoretical development. They are, however, central t0 actually obtaining a finite element solution fora given problem. The chapter includes brief descriptions of both direct and iterative methods fr solution of linear systems of equations. ‘Treatment of linear constraints through Lagrange multipliers and penalty functions is also included, “This chapter gives enough background to students so that they can quickly start using available commercial finite element packages effectively. It plays an important rote inthe lectuce/lab format advocated for the frst finite element course 2, Mathematical Foundations of the Finite Element Method. From a mathematical point of view the finite clement method is & special form of the well-known Galerkin and Rayleigh-Riz methods for finding approximate solutions of differential equations. ‘The basic concepts are explained in this chapter with reference to the problem of axial {deformation of bars. The derivation of the governing differential equation is included for completeness. Approximate solutions using the classical form of Galerkin and Rayleigh Ritz methods are presented. Finally, the methods are cast into the form that is suitable {for developing finite element equations. Lagrange and Hermitian interpolation functions, ‘commonly employed in derivation of finite element equations, are presented inthis chapter, 43. One-Dimensional Boundary Value Problem. A large number of practical problems are governed by 2 one-dimensional boundary value problem of the form E fost) pao eaed <0 PREFACE Finite element formulation and solutions of selected applications that ae governed by the

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