CIV 4234

Advanced Structural Analysis

 Coordinate systems

2
y

x
1
local coordinates
Y

global coordinates
 Coordinate systems

2
y

x
1
local coordinates
Y

global coordinates

+ a third description, natural coordinates

 Mapping on geometry
Consider a one dimensional (bar) element: origin of local coordinates
origin of global
origin of natural coordinates
coordinates

P
x
x1 x’ ξ x2

For any point P on the member, between x1 and x2,

•Global coordinate of P is x
•Local coordinate of P is x’

Define,
 x1 + x2 
x− 
ξ=  2 
 x2 − x1 
 
 2 
When x = x1, ξ = -1 and when x = x2, ξ = +1.
Rearranging,

x −x  x +x 
x = ξ 2 1  +  1 2 
 2   2  Where N1 = 0.5(1-ξ)

= (1 − ξ )x1 + (1 + ξ )x2
1 1 N2 = 0.5(1+ξ)
2 2
= N1 x1 + N 2 x2 N1 + N2 = 1

1.0 1.0 1.0

N1 N2

x1 x2 x1 x2
ξ N1 and N2

-
1.0
Let’s try the bar element, using the natural coordinate system with origin in the middle:

u = α1 + α2 x, so at x = x1 and x = x2,
u1 = α1 + α2 x1
u2 = α1 + α2 x2

Inverting,  α1  1 x 2 − x1   u 1 
=
α  x − x − 1 1  u 
 2 2 1   2 
Substituting for α in the equation for u,
x2 − x x −x
u= u1 − 1 u2
x 2 − x1 x 2 − x1
1
(x 2 − x 1 ) − 1 (2x − x 1 − x 2 ) 1
(x 2 − x 1 ) + 1 (2x − x 1 − x 2 )
= 2 2 u1 + 2 2 u2
x 2 − x1 x 2 − x1

x +x 
x− 1 2 
ξ=  2  = 2 x − x1 − x2
Substitute
 x2 − x1  x2 − x1
 
 2 
 u=
1
(1 − ξ)u1 + 1 (1 + ξ)u2 or in matrix form, [U] = [N]T[ui]
2 2
. = N1u1 + N 2u2

Again compare:

Function for coordinate: x=

1
(1 − ξ )x1 + 1 (1 + ξ )x2 = N1 x1 + N 2 x2
2 2
u = (1 − ξ )u1 + (1 + ξ )u 2 = N1u1 + N 2u 2
1 1
Function for displacement:
2 2

x +x 
x − 1 2 
Where N1 = 0.5(1-ξ), N2 = 0.5(1+ξ), N1 + N2 = 1, and ξ=  2 
 x2 − x1 
 
 2 
The equations for Ni are shape functions for the finite element

Describing the coordinates in a natural coordinate system has resulted in the same function to
describe both the coordinates, and the displacement.

When the description of the finite element is formulated in this way we call it an isoparametric
element, iso meaning ‘the same’.

The functions Ni, which describe the coordinates of points on the element, have a value of 1 at
one node of the element, and a value of zero at all other nodes.
Strain-displacement relationship

[ε(x,y)] = [B][U]

du d ( N1u1 + N 2u2 )
{ ε } = ε( x ) = =
dx dx

∂u ∂ ∂N
ε( x ) = = ∑ N i u i = ∑ i ui
∂x ∂x ∂x
Strain-displacement relationship
du d ( N1u1 + N 2u2 )
{ ε } = ε( x ) = =
dx dx
∂u ∂ ∂N
ε( x ) = = ∑ N i u i = ∑ i ui
∂x ∂x ∂x

∂N i ∂x ∂N i
= .
∂ξ ∂ξ ∂x

Jacobian (J)

∂N i −1 ∂N i
=J .
∂x ∂ξ
 Strain-displacement relationship
x −x  x +x  ∂x x −x
x = ξc  2 1  +  1 2  ⇒ =J= 2 1
 2   2  ∂ξ 2

N1 = 0.5(1 − ξc ) and N 2 = 0.5(1 + ξ c )

∂N1 ∂N 2
= −0.5 , = 0.5
∂ξ ∂ξ
∂u ∂ ∂N ∂N ∂N
ε( x ) = = ∑ N i ui =∑ i ui = 1 u1 + 2 u 2 =
∂x ∂x ∂x ∂x ∂x
∂N ∂N
= J −1 1 u1 + J −1 2 u2
∂ξ ∂ξ
= J −1( −0.5 )u1 + J −1( 0.5 )u2

B1 B2
 Stiffness Matrix

 −1 ∂N1 
 J
∂ξ   −1 ∂N1 ∂N 2 
K = ∫ B EBdv = ∫ ∫ 
T
E J J −1 dAdx
V L A J
−1 ∂N 2   ∂ξ ∂ξ 
 ∂ξ 

x −x  x +x  x −x
x = ξ c  2 1  +  1 2  ⇒ dx = 2 1 dξ or dx = J dξ
 2   2  2

 −1 ∂N1 
1  J ∂ξ   −1 ∂N ∂N 2 
K = ∫∫ E J 1
J −1 dA J dξ =
−1 ∂N 2   ∂ξ ∂ξ 
−1 A  J
 ∂ξ 

 −1 ∂N1   ∂N1 
1  J ∂ξ   −1 ∂N ∂N 2 
1  ∂ξ   ∂N ∂N 2 
∫−1  −1 ∂N 2  EA J ∂ξ1 J −1  J −1
dξ = ∫ J EA  1  dξ
J ∂ξ  −1  ∂N 2   ∂ξ ∂ξ 
 ∂ξ   ∂ξ 
 Stiffness Matrix

∂N1 ∂N 2
= − 0. 5 , = 0. 5
∂ξ ∂ξ

1
− 0.5
K = ∫ J −1 EA [− 0.5 0.5]dξ
−1  0 .5 
1
 0.25 − 0.25
= ∫ J −1 EA  dξ
−1 − 0.25 0.25 
 0.25 − 0.25 
= 2 J −1 EA 
− 0.25 0.25 

x2 − x1 −1 2  1 −1 
J= ⇒J = ⇒ K = EA/L  
2 x2 − x1 − 1 1 
Let’s try the bar element with three nodes, using the natural coordinate
system with origin in the middle:

x2 x3 ξ=-1 ξ=0 ξ=1

x1 mapped

x = fn(ξ )

ξ(ξ − 1)x1 − (ξ − 1)(ξ + 1)x2 + ξ(ξ + 1)x3 = N1 x1 + N 2 x2 + N 3 x3

1 1
x=
2 2

∂u ∂ ∂N
ε( x ) = = ∑ N i u i = ∑ i ui
∂x ∂x ∂x
Strain-displacement relationship

∂u ∂ ∂N
ε( x ) = = ∑ N i u i = ∑ i ui
∂x ∂x ∂x

∂N i ∂x ∂N i
= .
∂ξ ∂ξ ∂x

Jacobian (J)

∂N i −1 ∂N i
=J .
∂x ∂ξ
 Strain-displacement relationship

ξ(ξ − 1)x1 − (ξ − 1)(ξ + 1)x2 + ξ(ξ + 1)x3 = N1 x1 + N 2 x2 + N 3 x3

1 1
x=
2 2
∂x  1   1
= ξ −  x1 − 2ξx2 + ξ +  x3
∂ξ  2   2

Jacobian (J)

∂u ∂ ∂N ∂N ∂N ∂N
ε( x ) = = ∑ N i ui =∑ i ui = 1 u1 + 2 u 2 + 3 u3 =
∂x ∂x ∂x ∂x ∂x ∂x
∂N ∂N ∂N
= J −1 1 u1 + J −1 2 u2 + + J −1 3 u3
∂ξ ∂ξ ∂ξ

B1 B2 B3
 Stiffness Matrix
 −1 ∂N1 
 J ∂ξ 
 
∂N 2   −1 ∂N1 ∂N 2 ∂N 3 
K = ∫ B EBdv = ∫ ∫  J
T −1
E J J −1 J −1 dAdx
 ∂ξ   ∂ξ ∂ξ ∂ξ 
 −1 ∂N 
V L A

J 3

 ∂ξ 
 −1 ∂N1 
 J ∂ξ 
1  
∂N 2   −1 ∂N1 ∂N 2 ∂N 3 
K = ∫ ∫ J −1
E J J −1 J −1 dA J dξ =
−1 A
 ∂ξ   ∂ξ ∂ξ ∂ξ 
 −1 ∂N 
J 3

 ∂ξ 

 ∂N1 
 ∂ξ 
 
∂  ∂N ∂N 2 ∂N 3 
1
N
= ∫ J −1 EA 2   1  dξ
−1
 ∂ξ   ∂ξ ∂ξ ∂ξ 
 ∂N 
 3
 ∂ξ 