Introduction to FEM

8
MultiFreedom
Constraints I

IFEM Ch 8 – Slide 1
 Introduction to FEM

Multifreedom Constraints

Single freedom constraint examples

u x4 = 0 linear, homogeneous
u y9 = 0.6 linear, non-homogeneous

Multifreedom constraint examples

u x2 = 12 u y2 linear, homogeneous

u x2 −2u x4 +u x6 = 0.25 linear, non-homogeneous

(x5 +u x5 −x3 −u x3 ) 2 +( y5 +u y5 −y3 −u y3 )2 = 0

nonlinear, homogeneous

IFEM Ch 8 – Slide 2
 Introduction to FEM

Sources of Multifreedom Constraints

"Skew" displacement BCs

Coupling nonmatched FEM meshes

Global-local and multiscale analysis

Incompressibility

Model reduction

IFEM Ch 8 – Slide 3
 Introduction to FEM

MFC Application Methods

Master-Slave Elimination Chapter 9

Penalty Function Augmentation 


Chapter 10
Lagrange Multiplier Adjunction 

IFEM Ch 8 – Slide 4
 Introduction to FEM

Example 1D Structure to Illustrate MFCs

u 1, f1 u 2, f2 u 3, f3 u 4, f4 u 5, f5 u 6, f6 u 7, f7
(1) (2) (3) (4) (5) (6)
x
1 2 3 4 5 6 7

Multifreedom constraint:

u2 = u6 or u2 − u6 = 0

Linear homogeneous MFC

IFEM Ch 8 – Slide 5
 Introduction to FEM

Example 1D Structure (Cont'd)

u 1, f1 u 2, f2 u 3, f3 u 4, f4 u 5, f5 u 6, f6 u 7, f7
(1) (2) (3) (4) (5) (6)
x
1 2 3 4 5 6 7
Unconstrained master stiffness equations
    
K 11 K 12 0 0 0 0 0 u1 f1
 K 12 K 22 K 23 0 0 0 0     f2 
   u2   
 0 K 23 K 33 K 34 0 0 0     f3 
   u3   
 0 0     f4 
 0 K 34 K 44 K 45 0   u4  =  
 0 0 0 K 45 K 55 K 56 0     f5 
   u5   
 0 0 0 0 K 56 K 66 K 67   u 6   f6 
0 0 0 0 0 K 67 K 77 u7 f7
or Ku = f

IFEM Ch 8 – Slide 6
 Introduction to FEM

Master-Slave Method for Example Structure

Recall: u2 = u6 or u2 − u6 = 0

Taking u 2 as master:
   
u1 1 0 0 0 0 0  
 u2   0 u1
   1 0 0 0 0  u2 
 u3   0 0 1 0 0 0  
     u3 
 u4  =  0 0 0 1 0 0  
     u4 
 u5   0 0 0 0 1 0  
     u5 
 u6   0 1 0 0 0 0
u7
u7 0 0 0 0 0 1

or u = Tû.

IFEM Ch 8 – Slide 7
 Introduction to FEM

Forming the Modified Stiffness Equations

Unconstrained master
stiffness equations:
Ku = f

Master-slave transformation: u = Tû

Congruential transformation: K̂ = TT KT
f̂ = TT f

Modified stiffness equations: K̂û = f̂

IFEM Ch 8 – Slide 8
 Introduction to FEM

Modified Stiffness Equations for Example Structure

ˆ uˆ = ˆf
K
In full
    
K 11 K 12 0 0 0 0 u1 f1
 K 12 K 22 + K 66 K 67     
 K 23 0 K 56   u 2   f2 + f6 
 0 K 23 K 33 K 34 0 0     
   u 3  =  f3 
 0 0 K 34 K 44 K 45 0     
   u 4   f4 
 0 K 56 0 K 45 K 55 0   u 5   f5 
0 K 67 0 0 0 K 77 u7 f7

Solve for ˆ then recover u = T uˆ

u,

IFEM Ch 8 – Slide 9
 Introduction to FEM
Multiple MFCs
Suppose
u 2 − u 6 = 0, u 1 + 4u 4 = 0, 2u 3 + u 4 + u 5 = 0

Pick 3, 4 and 6 as slaves:

u6 = u2, u 4 = − 14 u 1 , u 3 = − 12 (u 4 + u 5 ) = 18 u 1 − 12 u 5
Put in matrix form:
   1 0 0 0

u1
 u2   
0 1 0 0
u 
   1
 u3   8 0 − 12 0
1
     u2 
 u4  =  − 1 0  
   4 0 0  u5
 u5  
   0
 u6   0 1 0 u7
0 1 0 0
u7 0 0 0 1

ˆ - then proceed as before

This is u = T u

IFEM Ch 8 – Slide 10
 Introduction to FEM

Non-homogeneous MFCs

u 2 − u 6 = 0.2

Pick again u 6 as slave, put into matrix form:

     
u1 1 0 0 0 0 0   0
 u2   0 u1
   1 0 0 0 0  u2 
 0



 u3   0 0 1 0 0 0    0 
     u3   
 u4  =  0 0    0 
   0 0 1 0   u4  +  
 u5   0 0 0 0 1 0    0 
     u5   
 u6   0 1 0 0 0 0 −0.2 
u7
u7 0 0 0 0 0 1 0

IFEM Ch 8 – Slide 11
 Introduction to FEM
Nonhomogeneous MFCs (cont'd)
u = T uˆ + g g = "gap" vector
Premultiply both sides by TT K, replace K u = f and pass data
to RHS. This gives
ˆ uˆ = ˆf
K
with ˆ = TT K T and fˆ = TT (f − K g)
K
a modified force vector
For the example structure
    
K 11 K 12 0 0 0 0 u1 f1
 K 12 K 22 + K 66 K 67     
 K 23 0 K 56   u 2   f 2 + f 6 − 0.2K 66 
 0 K 23 K 33 K 34 0 0     
   u3  =  f3 
 0 0 K 34 K 44 K 45  
0   u4    f4 
 
 0 K 56 0 K 45 K 55 0   u5   f 5 − 0.2K 56 
0 K 67 0 0 0 K 77 u7 f 7 − 0.2K 67
ˆ then recover u = T uˆ + g
Solve for u,

IFEM Ch 8 – Slide 12
 Introduction to FEM

Model Reduction Example

u 1, f1 u 2, f2 u 3, f3 u 4, f4 u 5, f5 u 6, f6 u 7, f7
(1) (2) (3) (4) (5) (6)
x
1 2 3 4 5 6 7

u 1, f1 2 master DOFs to be retained u 7, f7

x
1 7

5 slave DOFs to be eliminated

Master Master
u 1, f1 u 7, f7
Reduced model
x
1 7

IFEM Ch 8 – Slide 13
 Introduction to FEM

Model Reduction Example (cont'd)

Lots of slaves, few masters. Only masters are left. Example of previous slide:
   
u1 1 0
 u 2   5/6 1/6 
   
 u 3   4/6 2/6   
    u1
 u 4  =  3/6 3/6 
5 slaves     u7 2 masters
 u 5   2/6 4/6 
   
 u 6   1/6 5/6 
u7 0 1
Applying the congruential transformation we get the reduced stiffness equations
    
K̂ 11 K̂ 17 u1 fˆ1
=
K̂ 17 K̂ 77 u7 fˆ7
where
K̂ 11 = 1
36
(36K 11 +60K 12 +25K 22 +40K 23 +16K 33 +24K 34 +9K 44 +12K 45 +4K 55 +4K 56 +K 66 )
K̂ 17 = 1
36
(6K 12 +5K 22 +14K 23 +8K 33 +18K 34 +9K 44 +18K 45 +8K 55 +14K 56 +5K 66 +6K 67 )
K̂ 77 = 1
36
(K 22 +4K 23 +4K 33 +12K 34 +9K 44 +24K 45 +16K 55 +40K 56 +25K 66 +60K 67 +36K 77 )
fˆ1 = 1
6
(6 f 1 +5 f 2 +4 f 3 +3 f 4 +2 f 5 + f 6 ), fˆ7 = 16 ( f 2 +2 f 3 +3 f 4 +4 f 5 +5 f 6 +6 f 7 ).

IFEM Ch 8 – Slide 14
 Introduction to FEM

Model Reduction Example: Mathematica Script

(* Model Reduction Example *)
ClearAll[K11,K12,K22,K23,K33,K34,K44,K45,K55,K56,K66,
f1,f2,f3,f4,f5,f6];
K={{K11,K12,0,0,0,0,0},{K12,K22,K23,0,0,0,0},
{0,K23,K33,K34,0,0,0},{0,0,K34,K44,K45,0,0},
{0,0,0,K45,K55,K56,0},{0,0,0,0,K56,K66,K67},
{0,0,0,0,0,K67,K77}}; Print["K=",K//MatrixForm];
f={f1,f2,f3,f4,f5,f6,f7}; Print["f=",f];
T={{6,0},{5,1},{4,2},{3,3},{2,4},{1,5},{0,6}}/6;
Print["Transformation matrix T=",T//MatrixForm];
Khat=Simplify[Transpose[T].K.T];
fhat=Simplify[Transpose[T].f];
Print["Modified Stiffness:"];
Print["Khat(1,1)=",Khat[[1,1]],"\nKhat(1,2)=",Khat[[1,2]],
"\nKhat(2,2)=",Khat[[2,2]] ];
Print["Modified Force:"];
Print["fhat(1)=",fhat[[1]]," fhat(2)=",fhat[[2]] ];
Modified Stiffness: (Some print output removed so slide fits)
1
Khat
1,1

36 K11  60 K12  25 K22  40 K23  16 K33  24 K34  9 K44  12 K45  4 K55  4 K56  K66
36
1
Khat
1,2

6 K12  5 K22  14 K23  8 K33  18 K34  9 K44  18 K45  8 K55  14 K56  5 K66  6 K67
36
1
Khat
2,2

K22  4 K23  4 K33  12 K34  9 K44  24 K45  16 K55  40 K56  25 K66  60 K67  36 K77
36

Modified Force:
1 1
fhat
1

6 f1  5 f2  4 f3  3 f4  2 f5  f6 fhat
2

f2  2 f3  3 f4  4 f5  5 f6  6 f7
6 6

IFEM Ch 8 – Slide 15
 Introduction to FEM

Assessment of Master-Slave Method

ADVANTAGES
exact if precautions taken
easy to understand
retains positive definiteness
important applications to model reduction

DISADVANTAGES
requires user decisions
messy implementation for general MFCs
hinders sparsity of master stiffness equations
sensitive to constraint dependence
restricted to linear constraints

IFEM Ch 8 – Slide 16