________________________________________________________________________________________________

Some Brief Finite Element Modeling Notes - Rev 102201 1 Peter Avitabile
SOME BRIEF FINITE ELEMENT MODELING NOTES
(EXCERPTED FROM FINITE ELEMENT MODELING NOTES BY PETER AVITABILE)




SO WHAT AM I TRYING TO DO WHEN MAKING A FEM ???




CONTINUOUS DISCRETIZED
SOLUTION SOLUTION



MODELING ISSUES

continuous solutions work well with structures that are well behaved and have no
geometry that is difficult to handle
most structures don't fit this simple requirement (except for frisbees and cymbals)

real structures have significant geometry variations that are difficult to address for the
applicable theory
a discretized model is needed in order to approximate the actual geometry
the degree of discretization is dependent on the waveform of the deformation in the
structure
finite element modeling meets this need


________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 2 Peter Avitabile
FINITE ELEMENT MODELING OVERVIEW


Finite element modeling involves the descretization of the structure into elements or
domains that are defined by nodes which describe the elements.

A field quantity such as displacement is approximated using polynomial interpolation
over each of the domains.

The best values of the field quantity at nodes results from a minimization of the total
energy.

Since many nodes define many elements, a set of simultaneous equations results.

Typically, this set of equations is very large and a computer is used to generate results.


L
A, E
F F
u
i
i j
u
j
L
J, G
T T

i
i j

j
L
E, I
F F

i
i j

i

j


________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 3 Peter Avitabile
FINITE ELEMENT MODELING OVERVIEW


A TYPICAL FINITE ELEMENT USER MAY ASK

what kind of elements should be used?
how many elements should I have?
where can the mesh be coarse; where must it be fine?
what simplifying assupmtions can I make?
should all of the physical structural detail be included?
can I use the same static model for dynamic analysis?
how can I determine if my answers are accurate?
how do I know if the software is used properly?


ALL THESE QUESTIONS CAN BE ANSWERED, IF
the general structural behavior is well understood
the elements available are understood
the software operation is understood (input procedures, algorithms,etc.)

BASICALLY - we need to know what we are doing !!!


IF A ROUGH BACK OF THE ENVELOP ANALYSIS
CAN NOT BE FORMULATED, THEN
MOST LIKELY THE ANALYST DOES NOT KNOW
ENOUGH ABOUT THE PROBLEM AT HAND TO
FORMULATE A FINITE ELEMENT MODEL

________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 4 Peter Avitabile
FINITE ELEMENT MODELING OVERVIEW


Nodes are used to represent geometric locations in the structure.

Element boundary defined by the nodes.

The type of displacement field that exists over the domain will determine the type of
element used to characterize the domain.

Element characteristics are determined from

Theory of Elasticity
and
Strength of Materials.

Finite element method is a numerical method for solving a system of governing equations
over the domain of a continuous physical system.

The basis of the finite element method is summarized below

subdivide the structure into small finite elements

each element is defined by a finite number of node points

assemble all elements to form the entire structure

within each element, a simple solution to governing equations is formulated (the
solution for each element becomes a function of unknown nodal values)

general solution for all elements results in algebraic set of simultaneous equations


u
v
s
t




________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 5 Peter Avitabile
FINITE ELEMENT MODELING OVERVIEW


Using standard finite element modeling techniques, the following steps are usually followed
in the generation of an analytical model

node generation
element generation
coordinate transformations
assembly process
application of boundary conditions
model condensation
solution of equations
recovery process
expansion of reduced model results



FINITE ELEMENT MODELING OVERVIEW

All structures are 3 dimensional in nature but many times simplifying assumptions can be
assumed with no other loss in accuracy

Elements are typically categorized as

Structural Elements

Continuum Elements

Structural element formulations use the same general assumptions about their
respective behavior as their respective structural theories (such as truss, beam,
plate, or shell)
Continuum element formulations (such as 2D and 3D solid elements) comes from
theory of elasticity

A wide variety of different element types generally exists in most commercially available
finite element software packages.

Typical structural elements are mass, truss, beam, membrane, plane stress/plane strain,
thin plate, thin shell, thick plate, 3 dimensional solid with a variety of shape functions
ranging from linear to higher order polynomial.


________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 6 Peter Avitabile
FINITE ELEMENT MODELING OVERVIEW


Element Definition

Each element is approximated by

{ } | |{ } x N =

where
{} - vector of displacements within element
[N] - shape function for selected element
{x} - nodal variable

Element shape functions can range from linear interpolation functions to higher order
polynomial functions.

A simple illustration of shape functions is shown below

DISTRIBUTION PATTERN TO BE APPROXIMATED
TOOLS AVAILABLE SHAPE APPROXIMATION


________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 7 Peter Avitabile
FINITE ELEMENT MODELING OVERVIEW


Strain Displacement Relationship

The strain displacement relationship is given by

{ } | |{ } x B =

where

{} - vector of strain within element

[B] - strain displacement matrix
(proportional to derivatives of [N])

{x} - nodal variable


Mass and Stiffness Formulation

The mass and stiffness relationship is given by


| | | | | |
| | | | | || | V B C B K
V N N M
T
V
T
V
=
=

where
[M] - element mass matrix
[K] - element stiffness matrix
[N] - shape function for element
{} - density
[B] - strain displacement matrix
[C] - stress-strain (elasticity) matrix


________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 8 Peter Avitabile
FINITE ELEMENT MODELING OVERVIEW

Coordinate Transformation

Generally, elements are formed in a local coordinate system which is convenient for
generation of the element. Elemental matrices are transformed from the local elemental
coordinate system to the global coordinate system using

{ } | |{ }
2 12 1
x T x =

LOCAL SYSTEM
GLOBAL SYSTEM

Assembly Process

Elemental matrices are then assembled into the global master matrices using
{ } | |{ }
g k k
x c x =
where
{x
k
} - element degrees of freedom
[c
k
] - connectivity matrix
{x
g
} - global degrees of freedom

(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(

.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
x
x
.
.
.
.
.
.
.
# #
# # #
# # #
# # #
# # #
# # #
# # #
# # #
# # #
# # #
# # #
# # #
# # #
# # #
# # #
# # #
# X X
X X #
# # #
# # #
# # #
# # #
# # #
# # #
# #


________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 9 Peter Avitabile
FINITE ELEMENT MODELING OVERVIEW


Boundary Conditions

Elemental matrices are then assembled into the global master matrices using
| |{ } { }
n n n
F x K =


| | | |
| | | |
)
`

=
)
`

b
a
b
a
bb ba
ab aa
F
F
x
x
K K
K K


where 'a' identifies solution variable and 'b' identifies a bounded dof. The equation for
solution is

| |{ } | |{ } { }
| |{ } { } | |{ }
b ab a a aa
a b ab a aa
x K F x K
F x K x K
=
= +


where the equation for the reaction loads is
| |{ } | |{ } { }
b b bb a ba
F x K x K = +

Boundary Conditions - Method 1 - Decouple Equations

Set off-diagonal terms to zero

| |
| |
{ } | |{ }
| |{ }
)
`

=
)
`

b bb
b ab a
b
a
bb
aa
x K
x K F
x
x
K
K


Boundary Conditions - Method 2 - Stiff Spring

Apply stiff spring to bounded dofs (approx zero off-diagonal)

| | | |
| | | |
{ }
| |{ }
)
`

=
)
`

+
b stiff
a
b
a
stiff bb ba
ab aa
F K
F
x
x
K K K
K K


Boundary Conditions - Method 3 - Partition Equations

Partition out bounded dofs
| |{ } { }
a a aa
F x K =

________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 10 Peter Avitabile
FINITE ELEMENT MODELING OVERVIEW

Types of Boundary Conditions

FREE - FREE
LEFT END - FREE
RIGHT END - FREE
X
Y


SIMPLE SUPPORT
LEFT END - X=0, Y=0
RIGHT END - Y=0
X
Y


CANTILEVER
LEFT END - X=0, Y=0, RZ=0
RIGHT END - FREE
X
Y


BUILT IN BOTH ENDS
LEFT END - X=0, Y=0, RZ=0
RIGHT END - X=0, Y=0, RZ=0
X
Y


BUILT IN BOTH ENDS - HALF MODEL
LEFT END - X=0, Y=0, RZ=0
RIGHT END - X=0, RZ=0
X
Y


________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 11 Peter Avitabile
FINITE ELEMENT MODELING OVERVIEW


Solution Techniques

Static Solutions
typically involve decomposition of a large matrix
matrix is usually sparsely populated
majority of terms concentrated about the diagonal
Eigenvalue Solutions
use either direct or iterative methods
direct techniques used for small matrices
iterative techniques used to extract a few modes from a large set of matrices
Propagation Solutions
most common solution uses derivative methods
stability of the numerical process is of concern
at a given time step, the equations are reduced to an equivalent static form for
solution
typically many times steps are required


FINITE ELEMENT MODELING OVERVIEW - THE ELEMENTS
TRUSS
3D BEAM
PLATE
TORSIONAL ROD
STRUCTURAL ELEMENTS
CONTINUUM ELEMENTS



DEGREES OF FREEDOM

maximum 6 dof can be described at a point in space
finite element use a maximum of 6 dof
most elements use less than 6 dof to describe the element characteristics

________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 12 Peter Avitabile
FINITE ELEMENT MODELING OVERVIEW - THE ELEMENTS

TRUSS slender element (length>>area) which supports only tension or
compression along its length; essentially a 1D spring

BEAM slender element whose length is much greater that its transverse
dimension which supports lateral loads which cause flexural bending

TORSION same as truss but supports torsion

2D SOLID element whose geometry definition lies in a plane and applied loads
also lie in the same plane
plane stress occurs for structures with small thickness
compared with its in plane dimension - stress components
associated with the out of plane coordinate are zero
plane strain occurs for structures where the thickness becomes
large compared to its in plane dimension - strain component
associated with the out of plane coordinate are zero

PLATES element whose geometry lies in the plane with loads acting out of the
plane which cause flexural bending and with both in plane dimensions
large in comparison to its thickness - two dimensional state of stress
exists similar to plane stress except that there is a variation of tension
to compression through the thickness

SHELLS element similar in character to a plate but typically used on curved
surface and supports both in plane and out of plane loads - numerous
formulations exist

3D SOLID element classification that covers all elements - element obeys the
strain displacement and stress strain relationships

________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 13 Peter Avitabile
ELEMENT TYPES


TRUSS slender element (length>>area) which supports only tension or
compression along its length; essentially a 1D spring

L
A, E
F F
u
i
i j
u
j


The truss strain is defined as =
du
dx



The truss stiffness and lumped/consistent mass matrices are

| | | | | |
(

=
(

=
(

=
3 / 1 6 / 1
6 / 1 3 / 1
AL m ;
2 / 1
2 / 1
AL m ;
1 1
1 1
L
AE
k
c l







TORSION similar to truss but supports torsion

L
J, G
T T

i
i j

j


The torsional stiffness matrix is

| |
(

=
1 1
1 1
L
JG
k
t



________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 14 Peter Avitabile
ELEMENT TYPES


BEAM slender element whose length is much greater that its transverse
dimension which supports lateral loads which cause flexural bending

Beam assumptions are
constant cross section
cross section small compared to length
stress and strain vary linearly across section depth

The beam elastic curvature due to lateral loading is satisfied by EI d dx q
4 4
/ =
The longitudinal strain is proportional to the distance from the neutral axis and second
derivative of the elastic curvature given as = y d dx
2 2
/

L
E, I
F
F

i
i
j

i

j


The stiffness and consistent mass matrices are

| | | |
(
(
(
(

=
(
(
(
(

=
2 2
2 2
2
2 2
3
L 4 L 22 L 3 L 13
L 22 156 L 13 54
L 3 L 13 L 4 L 22
L 13 54 L 22 156
420
AL
m ;
L 4 L 6 L 2 L 6
L 6 12 L 6 12
L 2 L 6 L 4 L 6
L 6 12 L 6 12
L
EI
k


________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 15 Peter Avitabile
ELEMENT TYPES


BEAM The full beam stiffness matrix can be assembled using the truss,
torsion and two planar beam elements (one on plane and one out of
plane)

(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(
(

L
EI 4
L
EI 6
L
EI 2
L
EI 6
L
EI 4
L
EI 6
L
EI 2
L
EI 6
L
JG
L
JG
L
EI 6
L
EI 12
L
EI 6
L
EI 12
L
EI 6
L
EI 12
L
EI 6
L
EI 12
L
AE
L
AE
L
EI 2
L
EI 6
L
EI 4
L
EI 6
L
EI 2
L
EI 6
L
EI 4
L
EI 6
L
JG
L
JG
L
EI 6
L
EI 12
L
EI 6
L
EI 12
L
EI 6
L
EI 12
L
EI 6
L
EI 12
L
AE
L
AE
Z
2
Z Z
2
Z
Y
2
Y Y
2
Y
2
Y
3
Y
2
Y
3
Y
2
Z
3
Z
2
Z
3
Z
Z
2
Z Z
2
Z
Y
2
Y Y
2
Y
2
Y
3
Y
2
Y
3
Y
2
Z
3
Z
2
Z
3
Z



________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 16 Peter Avitabile
FINITE ELEMENT MODELING OVERVIEW

A simple spring example is useful to illustrate the finite element process

Consider the 2 spring system shown below

1 2 3
1 2
f
u
1
u
2 u
3


each spring element is denoted by a box with a number
each element is defined by 2 nodes denoted by the circle with a number assigned to
it
the springs have a node at each end and have a common node point
the displacement of each node is denoted by u with a subscript to identify which
node it corresponds to
there is an applied force at node 3


FINITE ELEMENT MODELING OVERVIEW

The first step is to formulate the spring element in a general sense

i j
p
f
u
i u
j
f
ip jp


the element label is p
the element is bounded by node i and j
assume positive displacement conditions at both nodes
define the force at node i and node j for the p element

Application of simple equilibrium gives

j p i p i j p jp
j p i p j i p ip
u k u k ) u u ( k f
u k u k ) u u ( k f
+ = =
+ = =


________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 17 Peter Avitabile
FINITE ELEMENT MODELING OVERVIEW

This can be written in matrix form to give
)
`

=
)
`

jp
ip
j
i
p p
p p
f
f
u
u
k k
k k

Now for element #1
)
`

=
)
`

21
11
2
1
1 1
1 1
f
f
u
u
k k
k k

And for element #2
)
`

=
)
`

32
22
3
2
2 2
2 2
f
f
u
u
k k
k k


The equilibrium requires that the sum of the internal forces equals the applied force acting
on each node



FINITE ELEMENT MODELING OVERVIEW

Three equations can now be written as

3 3 2 2 2
2 3 2 2 2 2 1 1 1
1 2 1 1 1
f u k u k
f u k u k u k u k
f u k u k
= +
= + +
=

or in matrix form

(
(
(

+

3
2
1
3
2
1
2 2
2 2 1 1
1 1
f
f
f
u
u
u
k k
k k k k
k k


Now applying a boundary condition of zero displacement at node 1 has the effect of zeroing
the first column of the K matrix which gives three equations with 2 unknowns. Solving for
the second and third equation gives

)
`

=
)
`

+
3 3
2
2 2
2 2 1
f
0
u
u
k k
k k k


________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 18 Peter Avitabile
FINITE ELEMENT MODELING CONSIDERATIONS


TRUSS ELEMENTS ASSEMBLED TOGETHER


AE / L
AE / L
-AE / L
-AE / L AE / L
AE / L
-AE / L
-AE / L
AE / L
AE / L
-AE / L
-AE / L
AE / L
AE / L
-AE / L
-AE / L
AE / L
AE / L
-AE / L
-AE / L
AE / L
AE / L
-AE / L
-AE / L
+
+



ELEMENT ASSEMBLY

the elements can be assembled into one matrix

________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 19 Peter Avitabile
FINITE ELEMENT MODELING CONSIDERATIONS


SOME COMMON MATERIAL TERMS/DEFINITIONS

Elastic or Young's Modulus (E) gives a direct indication of stiffness and is the ratio of
stress to strain

Shear Modulus (G) or Modulus of Rigidity is the ration of shear stress to shear strain

Mass density (r) is the weight density divided by the acceleration due to gravity

Poisson's Ratio (n) is the ration of lateral strain to extensional strain

Linear Isotropic material has material constants of elastic modulus, shear modulus,
Poisson's ratio and thermal expansion which are all constant properties which are
independent of the coordinate system of the element

Linear Anisotropic material has material constants defined by a 6x6 symmetrical matrix
and 6 terms for thermal expansion which are dependent on directional orientation in the
material

Linear Orthotropic material is a special case of Anisotropic material which contains 4
independent constants



FINITE ELEMENT MODELING APPROXIMATIONS


Approximation of the boundary condition is applied in the finite element model at the
node points and not along the surface of the element

Distributed forces are applied in an approximate sense at the nodes of the model and
not actually distributed as in the real world sense




________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 20 Peter Avitabile
FINITE ELEMENT MODELING CONSIDERATIONS


COMMON MODELING BLUNDERS

inconsistent set of units (ie, material in psi - model in feet)

weight density used instead of mass density

polar moment of inertia (J) used instead of torsional constant (J)

beam orientation 2-2 and 3-3 switched

aspect ratio incorrect

symmetry boundary conditions incorrectly specified

never use simple model first to assure closed form solution can be
obtained or understand the usage of the modeling technique

parts of the model not hooked together

misinterpretation of local/global coordinate systems

a finer mesh never used to assure convergence of the model

reluctance to read user & theoretical manuals

assume software should behave a certain way because of familiarity of
how a different software package behaves

ignorance of warning and error messages since they appear to be written
in a foreign language


________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 21 Peter Avitabile
FINITE ELEMENT MODELING MATLAB SCRIPT FILE


%
% Peter Avitabile - Modal Analysis & Controls Laboratory
% University of Massachusetts Lowell
%
% This MATLAB file is used to develop the frequencies and
% mode shapes for a cantilever beam used for ME22.403 Final Project
%
% The model is defined with 10 beam elements with 2 dof/node (shear/rotary)
% The parameters are difined below
%
%
% | 1 2 3 4 5 6 7 8 9 10 (node numbers)
% |
% |----x----x----x----x----x----x----x----x----x----x
% | O (mass at tip of beam)
% |
%
%===============================================================================
% incrementers and counters
%===============================================================================
%
nel = 10; %number of beam elements
nodes = nel + 1; %total number of nodes
ndfpn = 2; % number of DOF per node
nf = nodes*ndfpn; % total number of DOF in model before BC added
n = nf - ndfpn; % total number of DOF after built-in BC added
ninc = 2; % increment for beam element assembly in mass and stiffness
matrices
%
%===============================================================================
% physical parameters
%===============================================================================
%
E = 10e6; % Young's Modulus (psi)
b = 0.998; % beam dimension (inch)
h = 0.252; % beam dimension (inch)
I = 1/12*b*h^3; % area moment of inertia (inch**4)
length = 11.75; % total length of beam from constraint (inch)
len = length/nel; % length of individual beam element (inch)
rho = 0.1/386.4; % mass density (not weight density)
A = b*h; % cross sectional area (inch**2)
m_acc = .01/386.4 % assume accelerometer weights 0.01 lb

________________________________________________________________________________________________
Some Brief Finite Element Modeling Notes - Rev 102201 22 Peter Avitabile
FINITE ELEMENT MODELING MATLAB SCRIPT FILE (CONTINUED)


%
%===============================================================================
% Setup and Assemble Mass and Stiffness Matrices
%===============================================================================
%
Knf = zeros(nf,nf); % setup initial matrix space for stiffness
Mnf = zeros(nf,nf); % setup initial matrix space for stiffness
%
%===============================================================================
% individual element characteristics
%===============================================================================
%
kelement = kbeam(E,I,len); % ==>> ==>> EXTERNAL SCRIPT FILE NEEDED !!!
melement = mcbeam(rho,A,len); % ==>> ==>> EXTERNAL SCRIPT FILE NEEDED !!!
%
%===============================================================================
% assemble individual elements into matrices
%===============================================================================
%
[Knf] = assemble(Knf,kelement,[1,2,3,4],nel,ninc); %==>>SCRIPT FILE NEEDED !!!
[Mnf] = assemble(Mnf,melement,[1,2,3,4],nel,ninc); %==>>SCRIPT FILE NEEDED !!!
[Mnf] = assemble(Mnf,m_acc,21,1,1); % add accel mass at dof=21 at tip dof
%
%===============================================================================
% constrain system by removing equations associated with boundary
%===============================================================================
%
Kn = Knf(3:nf,3:nf); % remove first two equations from stiffness matrix
Mn = Mnf(3:nf,3:nf); % remove first two equations from mass matrix
%
%===============================================================================
% perform eigensolution to obtain frequencies and mode shapes
%===============================================================================
%
[shapes,freq] = eigen(Kn,Mn); % ==>> ==>> EXTERNAL SCRIPT FILE NEEDED !!!
figure(1)
plot(shapes((1:2:(n-1)),(1:1:3))); % plot all three modes
title('Mode Shape - first three modes - 10 elements')
freq(1:1:3)