Lecture 1

CENG6504: Finite Element Methods
Introduction
Dr. Tesfaye Alemu
1
A First Course in Finite Elements
Introduction
• The finite element method has become a powerful tool

for the numerical solution of a wide range of engineering
problems.
• Applications range from deformation and stress analysis of

automotive, aircraft, building, and bridge structures to field
analysis of heat flux, fluid flow, magnetic flux, seepage,
and other flow problems.
2
Introduction
• With the advances in computer technology and CAD

systems, complex problems can be modeled with relative
ease.
• Several alternative configurations can be tried out on a

computer before the first prototype is built.
• All of this suggests that we need to keep pace with these

developments by understanding the basic theory, modeling
techniques, and computational aspects of the finite
element method.
3
Introduction
• In this method of analysis, a complex region defining a
continuum is discretized into simple geometric shapes
called finite elements.
• The material properties and the governing relationships

are considered over these elements and expressed in
terms of unknown values at element corners.
• An assembly process, considering the loading and

constraints, results in a set of equations.
• Solution of these equations gives an approximate behavior

of the continuum. 4
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Historical Background
• Basic ideas of the finite element method originated

from advances in aircraft structural analysis.
• In 1941, Hrenikoff presented a solution of elasticity
problems using the “frame work method.”
• Courant’s paper, which used piecewise polynomial
interpolation over triangular subregions to model
torsion problems, appeared in 1943.
• Turner et al. derived stiffness matrices for truss,
beam, and other elements and presented their
findings in 1956.
• The term “finite element” was first coined and used
by Clough in 1960. 14
• In the early 1960s, engineers used the method for

approximate solution of problems in stress analysis,
fluid flow, heat transfer, and other areas.
• A book by Argyris in 1955 on energy theorems and
matrix methods laid a foundation for further
developments in finite element studies.
• The first book on finite elements by Zienkiewicz and
Chung was published in 1967.
• In the late 1960s and early 1970s, finite element
analysis was applied to nonlinear problems and
large deformations.
15
• Until the early 1950s, matrix methods and the associated
finite element method were not readily adaptable for solving
complicated problems because of the large number of
algebraic equations that resulted.
• Hence, even though the finite element method was being

used to describe complicated structures, the resulting large
number of equations associated with the finite element
method of structural analysis made the method extremely
difficult and impractical to use.
• With the advent of the computer, the solution of thousands of

equations in a matter of minutes became possible.
16
• Mathematical foundations were laid in the 1970s.
• New element development, convergence studies, and

other related areas fall in this category.
• Today, developments in distributed or multi-node

computers and availability of powerful microcomputers
have brought this method within reach of students and
engineers working in small industries.
17
General Steps of the Finite Element Method
• Typically, for the structural stress-analysis problem, the

engineer seeks to determine displacements and
stresses throughout the structure, which is in equilibrium
and is subjected to applied loads.
• For many structures, it is difficult to determine the

distribution of deformation using conventional methods,
and thus the finite element method is necessarily used.
18
• There are two general approaches associated with the

finite element method.
• One approach, called the force, or flexibility method,

uses internal forces as the unknowns of the problem.
• To obtain the governing equations, first the equilibrium

equations are used. Then necessary additional equations
are found by introducing compatibility equations.
• The result is a set of algebraic equations for determining

the redundant or unknown forces.
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• The second approach, called the displacement, or

stiffness method, assumes the displacements of the
nodes as the unknowns of the problem.
• The governing equations are expressed in terms of nodal

displacements using the equations of equilibrium and an
applicable law relating forces to displacements.
20
• These two approaches result in different unknowns (forces

or displacements) in the analysis and different matrices
associated with their formulations (flexibilities or
stiffnesses).
• It has been shown that, for computational purposes, the

displacement (or stiffness) method is more desirable
because its formulation is simpler for most structural
analysis problems.
21
• The finite element method involves modeling the
structure using small interconnected elements called finite
elements.
• A displacement function is associated with each finite

element.
22
• Every interconnected element is linked, directly or
indirectly, to every other element through common (or
shared) interfaces, including nodes and/or boundary lines
and/or surfaces.
• The total set of equations describing the behavior of each

node results in a series of algebraic equations best
expressed in matrix notation.
23
Basic Ingredients - Discrete Problems
The basic steps or building blocks of any application of FEM

to a mathematical or physical problem are:
1. Discretization
2. Interpolation
3. Elemental Description or Formulation
4. Assembly
5. Constraints
6. Solution
7. Computation of Derived Variables
24
Basic Ingredients - Discrete Problems
Whether the FEM is used for
(1) setting up and solving a problem by hand,

(2) using an existing FEM program to solve a problem,
or
(3) generating or writing a program to solve a class of
problems;
These basic steps are important in setting-up and solving

the FEM model.
25
Step 1 - Discretize and Select Element Types
• Step 1 involves dividing the body into an equivalent system

of finite elements with associated nodes and choosing the
most appropriate element type.
• The total number of elements used and their variation in size

and type within a given body are primarily matters of
engineering judgment.
• The elements must be made small enough to give usable

results and yet large enough to reduce computational effort.
• Small elements (and possibly higher-order elements) are

generally desirable where the results are changing rapidly,
such as where changes in geometry occur, whereas large
elements can be used where results are relatively constant.
26
• Primary line elements consist of bar (or truss) and beam

elements.
• They have a cross-sectional area but are usually represented

by line segments.
• The simplest line element (called a linear element) has two

nodes, one at each end, although higher-order elements
having three nodes or more (called quadratic, cubic, etc.
elements) also exist. 27
28
• The basic two-dimensional (or plane) elements are loaded by

forces in their own plane (plane stress or plane strain
conditions). They are triangular or quadrilateral elements.
• The simplest two-dimensional elements have corner nodes

only (linear elements) with straight sides or boundaries
although there are also higher-order elements, typically with
mid-side nodes (called quadratic elements) and curved
sides. 29
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33
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• The most common three-dimensional elements are

tetrahedral and hexahedral (or brick) elements; they are
used when it becomes necessary to perform a three-
dimensional stress analysis.
• The basic three dimensional elements have corner nodes

only and straight sides, whereas higher-order elements with
mid-edge nodes (and possible mid-face nodes) have curved
surfaces for their sides
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• The axisymmetric element is developed by rotating a

triangle or quadrilateral about a fixed axis located in the plane
of the element through 360°.
• This element can be used when the geometry and loading of

the problem are axisymmetric.
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Step 2 - Select a Displacement Function
Step 2 involves choosing a displacement function within each

element.
The function is defined within the element using the nodal

values of the element.
Linear, quadratic, and cubic polynomials are frequently used

functions because they are simple to work with in finite
element formulation.
42
Step 2 - Select a Displacement Function
The functions are expressed in terms of the nodal unknowns

(in the two-dimensional problem, in terms of an x and a y
component).
Hence, the finite element method is one in which a

continuous quantity, such as the displacement throughout the
body, is approximated by a discrete model composed of a set
of piecewise-continuous functions defined within each finite
domain or finite element.
43
Step 3 - Define the Strain/Displacement
and Stress/Strain Relationships
Strain/displacement and stress/strain relationships are

necessary for deriving the equations for each finite element.
For one-dimensional small strain deformation, say, in the x

direction, we have strain x, related to displacement u by
du
x 
dx
Stresses must be related to the strains through the
stress/strain law (generally called the constitutive law). The
simplest of stress/strain laws, Hooke’s law, often used in stress
analysis, is given by:
 x  E x
44
Step 4 - Derive the Element Stiffness Matrix and Equations
Direct Equilibrium Method - According to this method, the

stiffness matrix and element equations relating nodal forces
to nodal displacements are obtained using force equilibrium
conditions for a basic element, along with force/deformation
relationships.
This method is most easily adaptable to line or one-

dimensional elements (spring, bar, and beam elements)
45
Work or Energy Methods - To develop the stiffness matrix

and equations for two- and three-dimensional elements, it is
much easier to apply a work or energy method.
The principle of virtual work (using virtual displacements),

the principle of minimum potential energy, and Castigliano’s
theorem are methods frequently used for the purpose of
derivation of element equations.
We will present the principle of minimum potential energy

(probably the most well known of the three energy methods
mentioned here)
46
Methods of Weighted Residuals - The methods of weighted

residuals are useful for developing the element equations
(particularly popular is Galerkin’s method).
These methods yield the same results as the energy

methods, wherever the energy methods are applicable.
They are particularly useful when a functional such as

potential energy is not readily available.
The weighted residual methods allow the finite element

method to be applied directly to any differential equation
47
Step 5 - Assemble the Element Equations
and Introduce Boundary Conditions
The individual element equations generated in Step 4 can
now be added together using a method of superposition
(called the direct stiffness method) whose basis is nodal
force equilibrium (to obtain the global equations for the whole
structure).
Implicit in the direct stiffness method is the concept of

continuity, or compatibility, which requires that the structure
remain together and that no tears occur anywhere in the
structure.
The final assembled or global equation written in matrix form
F   K d 
is:
48
Step 6 - Solve for the Unknown Degrees of Freedom
(or Generalized Displacements)
Once the element equations are assembled and modified to
account for the boundary conditions, a set of simultaneous
algebraic equations that can be written in expanded matrix
form as:
 F1   K11 K12  K1n   d1 
F  K K 22  K 2n  d 2 
 2    
  
21
          
Fn   
n x1
K n1 K n 2  K nn  d n 
nxn n x1
where n is the structure total number of unknown nodal

degrees of freedom.
These equations can be solved for the d’s by using an

elimination method (such as Gauss’s method) or an iterative
method (such as Gauss Seidel’s method) 49
Step 7 - Solve for the Element Strains and Stresses
For the structural stress-analysis problem, important

secondary quantities of strain and stress (or moment and
shear force) can be obtained in terms of the displacements
determined in Step 6.
Step 8 - Interpret the Results
The final goal is to interpret and analyze the results for use
in the design/analysis process.
Determination of locations in the structure where large

deformations and large stresses occur is generally important
in making design/analysis decisions.
50
Advantages of the Finite Element Method
The finite element method has been applied to numerous

problems, both structural and non-structural. This method has
a number of advantages that have made it very popular.
1. Model irregularly shaped bodies quite easily
2. Handle general load conditions without difficulty
3. Model bodies composed of several different materials

because the element equations are evaluated individually
4. Handle unlimited numbers and kinds of boundary

conditions
51
Advantages of the Finite Element Method
5. Vary the size of the elements to make it possible to use

small elements where necessary
6. Alter the finite element model relatively easily and cheaply
7. Include dynamic effects
8. Handle nonlinear behavior existing with large

deformations and nonlinear materials
The finite element method of structural analysis enables the

designer to detect stress, vibration, and thermal problems
during the design process and to evaluate design changes
before the construction of a possible prototype.
52
End of
Introduction
53

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CENG6504: Finite Element Methods

Dr. Tesfaye Alemu

• The finite element method has become a powerful tool

• Applications range from deformation and stress analysis of

• With the advances in computer technology and CAD

• Several alternative configurations can be tried out on a

• All of this suggests that we need to keep pace with these

• The material properties and the governing relationships

• An assembly process, considering the loading and

• Solution of these equations gives an approximate behavior

• Basic ideas of the finite element method originated

• In the early 1960s, engineers used the method for

• Hence, even though the finite element method was being

• With the advent of the computer, the solution of thousands of

• Mathematical foundations were laid in the 1970s.

• New element development, convergence studies, and

• Today, developments in distributed or multi-node

• Typically, for the structural stress-analysis problem, the

• For many structures, it is difficult to determine the

• There are two general approaches associated with the

• One approach, called the force, or flexibility method,

• To obtain the governing equations, first the equilibrium

• The result is a set of algebraic equations for determining

• The second approach, called the displacement, or

• The governing equations are expressed in terms of nodal

• These two approaches result in different unknowns (forces

• It has been shown that, for computational purposes, the

• A displacement function is associated with each finite

• The total set of equations describing the behavior of each

The basic steps or building blocks of any application of FEM

Whether the FEM is used for

(1) setting up and solving a problem by hand,

These basic steps are important in setting-up and solving

• Step 1 involves dividing the body into an equivalent system

• The total number of elements used and their variation in size

• The elements must be made small enough to give usable

• Small elements (and possibly higher-order elements) are

• Primary line elements consist of bar (or truss) and beam

• They have a cross-sectional area but are usually represented

• The simplest line element (called a linear element) has two

• The basic two-dimensional (or plane) elements are loaded by

• The simplest two-dimensional elements have corner nodes

• The most common three-dimensional elements are

• The basic three dimensional elements have corner nodes

• The axisymmetric element is developed by rotating a

• This element can be used when the geometry and loading of

Step 2 involves choosing a displacement function within each

The function is defined within the element using the nodal

Linear, quadratic, and cubic polynomials are frequently used

The functions are expressed in terms of the nodal unknowns

Hence, the finite element method is one in which a

Strain/displacement and stress/strain relationships are

For one-dimensional small strain deformation, say, in the x

Direct Equilibrium Method - According to this method, the

This method is most easily adaptable to line or one-

Work or Energy Methods - To develop the stiffness matrix

The principle of virtual work (using virtual displacements),

We will present the principle of minimum potential energy

Methods of Weighted Residuals - The methods of weighted