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06_Governing Equation - Linear Elastodynamic

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4 views21 pages

06_Governing Equation - Linear Elastodynamic

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amr.saber173
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Finite Element Methods

Governing Equation (Equation of motion) of Linear


Elastodynamics

Instructor: Mohamed Abdou Mahran Kasem, Ph.D.


Aerospace Engineering Department
Cairo University
Objectives
This lecture presents:

- Some basics about the theory of elasticity


- The equation of motion for structural mechanics
Introduction

• The basic equations for the theory of elasticity are described in terms of displacements,
strains, stresses, boundary conditions, initial conditions, and constitutive relations that
relate the behavior between strain and stress.

• We start by specifying each equation set for a general three-dimensional problem in


Cartesian coordinates.

• However, we will also consider some two-dimensional forms.


Stress tensor
𝜎𝑥 𝜏𝑥𝑦 𝜏𝑥𝑧
Stress tensor 𝛔 = 𝜏𝑦𝑥 𝜎𝑦 𝜏𝑦𝑧
𝜏𝑧𝑥 𝜏𝑧𝑦 𝜎𝑧
In Voigt notation
𝜎𝑥
𝜎𝑦 𝜎𝑥 𝜏𝑥𝑦 𝜏𝑥𝑧
𝜎𝑧 𝛔 = 𝜏𝑦𝑥 𝜎𝑦 𝜏𝑦𝑧
𝛔= 𝜏
𝑥𝑦 𝜏𝑧𝑥 𝜏𝑧𝑦 𝜎𝑧
𝜏𝑦𝑧
𝜏𝑥𝑧
Strain tensor
𝜀𝑥 𝜀𝑥𝑦 𝜀𝑥𝑧
Strain tensor 𝛆 = 𝜀𝑦𝑥 𝜀𝑦 𝜀𝑦𝑧
𝜀𝑧𝑥 𝜀𝑧𝑦 𝜀𝑧
In Voigt notation 𝜀𝑥 𝜀𝑥
𝜀𝑦 𝜀𝑦
𝜀𝑧 𝜀𝑧 𝜀𝑥 𝜀𝑥𝑦 𝜀𝑥𝑧
𝛆 = 2𝜀𝑥𝑦 = 𝛾 𝛆 = 𝜀𝑦𝑥 𝜀𝑦 𝜀𝑦𝑧
𝑥𝑦
2𝜀𝑦𝑧 𝛾𝑦𝑧 𝜀𝑧𝑥 𝜀𝑧𝑦 𝜀𝑧
2𝜀𝑥𝑧 𝛾𝑥𝑧
𝜀𝑖𝑖 : relative elongation in longitudinal direction.
𝜀𝑖𝑗 : one-half the increase in the angle between the directions i and j (the angle is called the engineering strain).
Strain-displacement relation
Hook’s Law
Generalized Hook’s Law

𝜎𝑖𝑗 = 𝐶𝑖𝑗𝑘𝑙 𝜀𝑘𝑙

• 𝐶𝑖𝑗𝑘𝑙 is the material stiffness matrix (elastic constants) in form of forth order tensor.
• It is a material dependent matrix.
• For symmetric stress and strain tensors, the constants of the material stiffness matrix
are reduced to 21 independent constants.

• For isotropic materials, they are reduced into 2 independent constants.


Strain-displacement relation
The general strain-displacement relation for nonlinear material – Lagrange Strain Tensor

1 𝜕𝑢𝑖 𝜕𝑢𝑗 𝜕𝑢𝑘 𝜕𝑢𝑘


𝛆𝑖𝑗 = + +
2 𝜕𝑥𝑗 𝜕𝑥𝑖 𝜕𝑥𝑖 𝜕𝑥𝑗
𝟏
𝛆𝑖𝑗 = 𝑢𝑖,𝑗 + 𝑢𝑗,𝑖 + 𝑢𝑘,𝑖 𝑢𝑘,𝑗 u is the material displacement
𝟐
For small displacement – linear analysis (infinitesimal strain tensor )

𝛆𝑖𝑗 = 𝑢𝑖,𝑗 + 𝑢𝑗,𝑖


Linear elasticity

For linear elasticity:

• The stress-strain relation is linear (Hook’s Law) [1678]

• The strain-displacement relation is linear


Equilibrium Equation – Equation of motion
Assume a general body under traction and concentrated forces as
shown in figure, from Newton’s Law

෍𝐅 = 𝑚 𝐚

So
න 𝐓 𝑑𝑠 + න 𝐟 𝑑𝑉 = න 𝜌 𝐚 𝑑𝑉

Where
Equilibrium Equation – Equation of motion
For linear, elastic, dynamic analysis,
In tensor notation: 𝛁. 𝛔 + 𝐟 = 𝛒𝐮ሷ

In index notation: 𝜎𝒊𝒋,𝒋 + 𝑓𝑖 = 𝜌𝑢𝑖,𝑡𝑡

Which has a weighted residual form,

න 𝑤 σ𝐢𝐣,𝐣 + fi − 𝜌u𝑖,tt 𝑑Ω = 0
Hook’s Law for isotropic material
1. In terms of Lame´ constants (named after Gabriel Lame´ )

𝜎𝑖𝑗 = 2𝜇 𝜀𝑖𝑗 + 𝜆 𝛿𝑖𝑗 𝜀𝑘𝑘


Or in Voigt notation:
Hook’s Law for isotropic material
2. In terms of engineering constants
Hook’s Law for isotropic material
The relation between Lame´ constants and engineering constants

𝐸
𝜇=𝐺=
2 1+𝜈
Another relationship between the constants is defined as the Bulk Modulus,
Hook’s Law for isotropic material – More
inside
• For 𝜆 to be finite → −1 < 𝜈 < 0.5

• Positive value of 𝜈 means an extension in 1 direction would results in contraction


in the 2nd direction.

• Negative value of 𝜈 means an extension in 1 direction would results in expansion


in the 2nd direction.

• For incompressible material, since the volume change (dilatation) is equal to zero
(i.e. ∆𝑉 = 𝜀1 − 𝜈𝜀2 − 𝜈𝜀3 = 𝜀 1 − 2𝜈 ) → 𝝂 = 𝟎. 𝟓
• For most of the isotropic materials 𝝂 ≈ 𝟎. 𝟑
Hook’s Law for isotropic – More inside

𝑘𝑔
Material 𝐸 [𝐺𝑃𝑎] 𝝂 𝝀 𝜇 K 𝜌 [ 3 ] 𝜎𝑦 [𝑀𝑃𝑎] 𝜎𝑢𝑙𝑡 [𝑀𝑃𝑎]
𝑚

Aluminum Alloy 71 0.33 51.8 26.7 69.6 2770 280 310

Steel 200 0.3 115.4 76.9 166 7850 250 460

Stainless Steel 193 0.31 120.2 73.7 169 7750 207 586
Notation
• We will refer to the space dimension as 𝑛𝑠𝑑 .
• We will refer to the domain as Ω and the
boundaries as Γ.
• Thus, Ω ⊂ ℛ 𝑛𝑠𝑑 ⇒ 𝑓𝑜𝑟 2𝐷 𝑎𝑛𝑎𝑙𝑦𝑠𝑖𝑠 Ω ⊂ ℛ 2
• The Derichlet BC’s denote by Γ𝑔 .
• The Neumann BC’s denote by Γℎ .

• So, we denote the following assumptions:


➢ Γ = Γ𝑔 ∪ Γℎ
➢ Γ𝑔 ∩ Γℎ = ∅
➢ Γ𝑔 ≠ ∅, 𝑏𝑢𝑡 Γℎ 𝑚𝑎𝑦 𝑏𝑒 = ∅
Governing equation – linear elastodynamic
Given 𝑓𝑖 , 𝑔𝑖 , ℎ𝑖 , 𝑢0𝑖 , and 𝑢ሶ 0𝑖 Find 𝑢𝑖 such that

𝜎𝒊𝒋,𝒋 + 𝑓𝑖 = 𝜌𝑢,𝑡𝑡 𝑖𝑛 Ω
𝑢𝑖 = 𝑔𝑖 𝑜𝑛 Γ𝑔𝑖
𝜎𝑖𝑗 𝑛𝑗 = ℎ𝑖 𝑜𝑛 Γℎ𝑖
𝓢
𝑢𝑖 𝑥, 0 = 𝑢0𝑖 𝑥 𝑖𝑛 Ω
𝑢𝑖,𝑡 𝑥, 0 = 𝑢ሶ 0𝑖 𝑥 𝑖𝑛 Ω
𝑤ℎ𝑒𝑟𝑒 𝜎𝑖𝑗 = 𝐶𝑖𝑗𝑘𝑙 𝑢 𝑘,𝑙
Governing equation – linear elastostatics
Given𝑓𝑖 , 𝑔𝑖 and ℎ𝑖 , Find 𝑢𝑖 such that
Finite Element Formulation
Start from the D.E. (Equilibrium equation)
𝛔𝐢𝐣,𝐣 + 𝐟i = 𝜌𝐮,tt

Integrate to obtain the weighted residual form,

න 𝑤𝑖 𝛔𝐢𝐣,𝐣 + 𝐟i − 𝜌𝐮,tt 𝑑Ω = 0

න 𝑤𝑖 𝛔𝐢𝐣,𝐣 + 𝑤𝑖 𝐟i − 𝑤𝑖 𝜌𝐮,tt 𝑑Ω = 0
Finite Element Formulation
Let’s introduce the dependent variable

න 𝑤𝑖 𝐂𝐢𝐣𝑘𝑙 𝐮 𝒌,𝒍 ,𝒋 + 𝑤𝑖 𝐟i − 𝑤𝑖 𝜌𝐮,tt 𝑑Ω = 0

Using integration by parts, the weak form is stated as follows: given


𝑓𝑖 , 𝑔𝑖 , 𝑎𝑛𝑑 ℎ𝑖 find 𝑢𝑖 𝜖 𝒰𝑖 such that
𝑛𝑠𝑑

න𝑤 𝑖,𝑗 𝐂𝑖𝑗𝑘𝑙 𝐮 𝑘,𝑙 𝑑Ω = න 𝑤𝑖 𝐟𝑖 𝑑Ω + න 𝑤𝑖 𝜌𝐮,tt 𝑑Ω + ෍ න 𝑤𝑖 ℎ𝑖 𝑑Γ


𝑖=1 Γℎ𝑖
𝑛𝑠𝑑

න𝑤 𝑖,𝑗 𝛔𝑖𝑗 𝑑Ω = න 𝑤𝑖 𝐟𝑖 𝑑Ω + න 𝑤𝑖 𝜌𝐮,tt 𝑑Ω + ෍ න 𝑤𝑖 ℎ𝑖 𝑑Γ


𝑖=1 Γℎ𝑖

We called this approach semi-discrete approach because we discretized the space and left the time continues.

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