Lecture Notes: Introduction to Finite Element Method Chapter 1.
Introduction
Chapter 1.
Introduction
I. Basic Concepts
The finite element method (FEM), or finite element analysis
(FEA), is based on the idea of building a complicated object
with simple blocks, or, dividing a complicated object into small
and manageable pieces. Application of this simple idea can be
found everywhere in everyday life, as well as in engineering.
Examples:
Lego (kids’
play) Buildings
Approximat
ion of the area of
a circle:
“Element” Si
i
R
1
Area of one triangle: Si
2 R sin
2 i
N
1 2 2
Si R N sin R2 as N
Area of the circle: SN i 1 2 N
where N = total number of triangles (elements).
Observation: Complicated or smooth objects can be
represented by geometrically simple pieces
(elements).
© 1997-2003 Yijun Liu, University of Cincinnati 1
Lecture Notes: Introduction to Finite Element Method Chapter 1. Introduction
Why Finite Element Method?
Design analysis: hand calculations, experiments, and
computer simulations
FEM/FEA is the most widely applied computer
simulation method in engineering
Closely integrated with CAD/CAM applications
Applications of FEM in Engineering
Mechanical/Aerospace/Civil/Automobile Engineering
Structure analysis (static/dynamic, linear/nonlinear)
Thermal/fluid flows
Electromagnetics
Geomechanics
Biomechanics
...
Modeling of gear coupling
Examples:
...
© 1997-2003 Yijun 2
Liu, University of
Cincinnati
Lecture Notes: Introduction to Finite Element Method Chapter 1. Introduction
A Brief History of the FEM
1943 ----- Courant (Variational methods)
1956 ----- Turner, Clough, Martin and Topp (Stiffness)
1960 ----- Clough (“Finite Element”, plane problems)
1970s ----- Applications on mainframe computers
1980s ----- Microcomputers, pre- and postprocessors
1990s ----- Analysis of large structural systems
Can Drop Test (Click for more information and an animation)
© 1997-2003 Yijun Liu, University of Cincinnati 3
Lecture Notes: Introduction to Finite Element Method Chapter 1. Introduction
FEM in Structural Analysis (The Procedure)
Divide structure into pieces (elements with nodes)
Describe the behavior of the physical quantities on
each element
Connect (assemble) the elements at the nodes to form
an approximate system of equations for the whole
structure
Solve the system of equations involving
unknown quantities at the nodes (e.g.,
displacements)
Calculate desired quantities (e.g., strains and stresses)
at selected elements
Example:
FEM model for a gear tooth (From Cook’s book, p.2).
© 1997-2003 Yijun Liu, University of Cincinnati 4
Lecture Notes: Introduction to Finite Element Method Chapter 1. Introduction
Computer Implementations
Preprocessing (build FE model, loads and constraints)
FEA solver (assemble and solve the system of
equations) Postprocessing (sort and display the results)
Available Commercial FEM Software Packages
ANSYS (General purpose, PC and workstations)
SDRC/I-DEAS (Complete CAD/CAM/CAE package)
NASTRAN (General purpose FEA on mainframes)
ABAQUS (Nonlinear and dynamic analyses)
COSMOS (General purpose FEA)
ALGOR (PC and workstations)
PATRAN (Pre/Post Processor)
HyperMesh (Pre/Post Processor)
Dyna-3D (Crash/impact analysis)
...
A Link to CAE Software and Companies
© 1997-2003 Yijun Liu, University of Cincinnati 5
Lecture Notes: Introduction to Finite Element Method Chapter 1. Introduction
Objectives of This FEM Course
Understand the fundamental ideas of the FEM
Know the behavior and usage of each type of
elements covered in this course
Be able to prepare a suitable FE model for given
problems
Can interpret and evaluate the quality of the results
(know the physics of the problems)
Be aware of the limitations of the FEM (don’t misuse
the FEM - a numerical tool)
FEA of an Unloader Trolley (Click for more
info) By Jeff Badertscher (ME Class of
2001, UC)
See more examples in:
Showcase: Finite Element Analysis in Actions
© 1997-2003 Yijun Liu, University of Cincinnati 6
Lecture Notes: Introduction to Finite Element Method Chapter 1. Introduction
II. Review of Matrix Algebra
Linear System of Algebraic Equations
... a1n xn b1
a11 x1 a12 x2
... a2 n xn
(1)
a21 x1 a22 x2 b2
....... ... ann xn bn
a n2 x2
where x1, xa2n1, ...,
x1 xn are the unknowns.
In matrix form:
Ax (2)
b
a11 a12
where
...
A aij
a1n a21
a22 (3)
x1 ... b
x2 a2nb 1
x bi
i
:... b2
x ... ...
x...
n
:
an2 ...and x and bb are
an1 matrix,
A is called a n×n (square)
ann
(column) vectors of dimension n. n
© 1997-2003 Yijun Liu, University of Cincinnati 7
Lecture Notes: Introduction to Finite Element Method Chapter 1. Introduction
Row and Column Vectors
w1
v v1 v2 v3 w w2
w3
Matrix Addition and Subtraction
For two matrices A and B, both of the same size (m×n),
the addition and subtraction are defined by
C. A B with
cij aij bij
D. A B with
dij aij bij
Scalar Multiplication
A
aij
Matrix Multiplication
For two matrices A (of size l×m) and B (of size m×n),
the product of AB is defined by
m
C AB with cij
k 1
aik bkj
where i = 1, 2, ..., l; j = 1, 2, ..., n.
Note that, in general, AB BA, but A(BC)
(AB)C
(associative).
© 1997-2003 Yijun Liu, University of Cincinnati 8
Lecture Notes: Introduction to Finite Element Method Chapter 1. Introduction
Transpose of a Matrix
If A = [aij], then the transpose of A is
AT a ji
Notice that (AB)T BT AT .
Symmetric Matrix
A square (n×n) matrix A is called symmetric,
if
A AT or
aij a ji
Unit (Identity) Matrix
1 0 ... 0
0 1 ... 0
I
... ... ... ...
0 0 ... 1
Note that AI = A, Ix = x.
Determinant of a Matrix
The determinant of square matrix A is a scalar
number denoted by det A or |A|. For 2×2 and 3×3
matrices, their determinants are given by
a b
det ad bc
c
d
and
© 1997-2003 Yijun Liu, University of Cincinnati 9
Lecture Notes: Introduction to Finite Element Method Chapter 1. Introduction
a11 a12 a13
det a21
a22 a23 a11a22a33 a12a23a31 a21a32a13
a31 a32
a33 a13a22a31
a12a21a33
a23a32a11
Matrix Inversion
Singular Matrix
For a square and nonsingular matrix A ( det 0), its
A
A square matrix A is singular if det A = 0, which indicates
problems
inverse A-1inisthe systems (nonunique
constructed solutions,
in such a way that degeneracy,
etc.) AA 1 A 1 A I
The cofactor matrix C of matrix A is defined
by C ( 1)i j
ij M
ij
where Mij is the determinant of the smaller matrix obtained
by eliminating the ith row and jth column of A.
Thus, the inverse of A can be determined by
1 1
A C T
det A
We can show that (AB) 1
B 1A 1 .
© 1997-2003 Yijun Liu, University of Cincinnati 10
Lecture Notes: Introduction to Finite Element Method Chapter 1. Introduction
Examples:
1
a b 1 d b
(1)
c (ad bc) c
d a
Checking,
1
a b a b 1 d b a b 1
c d c (ad bc) 0
d c a c d 0
1
1 T
1 1 0 3 2 3 2
1 1 1
(2) 1 2
1 (4 2 2 2 1 2 2 1
1)
0 1 2 1 1 1 1
Checking, 1 1
1 1 0 3 2 1 1 0 0
1 2 1 2 2 1 0 1 0
0 1 2 1 1 1 0 0 1
If det A = 0 (i.e., A is singular), then A-1 does not exist!
The solution of the linear system of equations (Eq.(1)) can
be expressed as (assuming the coefficient matrix A is
nonsingular)
x A 1b
Thus, the main task in solving a linear system of equations is
to found the inverse of the coefficient matrix.
© 1997-2003 Yijun Liu, University of Cincinnati 11
Lecture Notes: Introduction to Finite Element Method Chapter 1. Introduction
Solution Techniques for Linear Systems of Equations
Gauss elimination methods
Iterative methods
Positive Definite Matrix
A square (n×n) matrix A is said to be positive definite, if
for all nonzero vector x of dimension n,
x T Ax 0
Note that positive definite matrices are nonsingular.
Differentiation and Integration of a Matrix
Let
A(t ) aij (t )
then the differentiation is defined by
daij (t)
d
dt A(t) dt
and the integration by
A(t)dt aij (t)dt
© 1997-2003 Yijun Liu, University of Cincinnati 12
Lecture Notes: Introduction to Finite Element Method Chapter 1. Introduction
Types of Finite Elements
1-D (Line) Element
(Spring, truss, beam, pipe, etc.)
2-D (Plane) Element
(Membrane, plate, shell, etc.)
3-D (Solid) Element
(3-D fields - temperature, displacement, stress, flow
velocity)
© 1997-2003 Yijun Liu, University of Cincinnati 13
