Lecture 8

Swiss Federal Institute of Technology
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The Finite Element Method for the Analysis of Non-Linear and Dynamic Systems
Prof. Dr. Michael Havbro Faber Swiss Federal Institute of Technology ETH Zurich, Switzerland
Method of Finite Elements II
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Contents of Today's Lecture
Solution of Equilibrium Equations in Dynamic Analysis Direct Integration methods - The central difference method - The Houbolt method - The Wilson method - The Newmark method - Coupling of integration operators
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Introduction to Dynamic Analysis
Introduction The very basics

Newtons 2nd law of motion:
Unstretched position
&& mx = w k ( + x) && mx w + k ( + x) = 0 && && mx k + k ( + x) = mx + kx = 0 k 2 && + x = && + n x = 0 x x m

m
Stretched position (static equilibrium)
w = mg
& x x x, &&
n = 2 =
fn = 1
= 2
m k
1 2
k m
& x = A sin nt + B cos n t t x = 0 x sin nt + 0 x cos nt
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Introduction We have previously considered the equilibrium equations governing the linear dynamic response of a system of finite elements:
&& & MU + CU + KU = R
M : Mass matrix C : Damping matrix K : Stiffness matrix U : Displacements & U : Velocities && U : Accelerations
FI (t ) + FD (t ) + FE (t ) = R (t ) && FI (t ) = MU & F (t ) = CU
D
FE (t ) = KU
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Introduction Whether a dynamic analysis is needed or not is generally up to engineering judgment requires understanding of the interaction between loading and structural response! In general if the loading varies over time with frequencies higher than the Eigen-frequencies of the structure then dynamic analysis will be required
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Introduction
&& & MU + CU + KU = R
In principle the equilibrium equations may be solved by any standard numerical integration scheme BUT ! Efficiency numerical efforts must be considered and it is worthwhile to look at special techniques of integration which are especially suited for the analysis of finite element assemblies.
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Direct Integration Methods
&& & MU + CU + KU = R
Direct means: The equations are solved in their original form! Two ideas are utilized 1) The equilibrium equations are satisfied only at time steps, i.e. at discrete times with intervals t 2) A particular variation of displacements, velocities and accelerations within each time interval is assumed The accuracy depends on these assumptions as well as the choice of time intervals!
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&& & MU + CU + KU = R
The displacements, velocities and accelerations
U : Displacement vector at time t = 0 0 & U : Velocity vector at time t = 0 0 && U : Acceleration vector at time t = 0
0
are assumed to known and we aim to establish the solution of the equilibrium equations for the period 0 - T. So we sub-divide T into n intervals of length t = T/n and establish solutions for the times t , 2 t , 3 t , ,T.
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Direct Integration Methods We distinguish principally between Explicit methods:
&& & MU + CU + KU = R
Solution is based on the equilibrium equations at time t
Implicit methods: Solution is based on the equilibrium equations at time t + t
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&& & MU + CU + KU = R
The Central difference method
t
1 && U = 2 ( t t U 2 t U + t +t U) t 1 t & U= ( t t U + t +t U) 2t
a and b inserted in c
a b
1 t +t 2 1 t t 1 1 M+ C U = t R K 2 M t U 2 M + C U 2 2t 2 t t t t
( a0M + a1C ) t +t U = t R ( K a2M ) t U ( a0M + a1C ) t t U
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( a0M + a1C ) t +t U = t R ( K a2 M ) t U ( a0 M + a1C ) t t U
The Central difference method We see that we do not need to factorize the stiffness matrix
We also see that in order to calculate the displacements at time t we need to know the displacements at time 0 and t
& && In general 0 U, 0 U and 0 U are known and we may use a and b to obtain t Ui
t
t 2 0 && & U i = U i t U i + Ui 2
0 0
& && U i = 0 U i t 0 U i + a3 0 U i
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The Central difference method: Solution procedure: A: Initial calculations 1) Form stiffness matrix, mass matrix and damping matrix & && 2) Initialize 0 U, 0 U and 0 U 3) Select time step t, t tcr and calculate integration constants
a0 = 1 , t 2 a1 = 1 , 2t a2 = 2a0 , a3 =
& && 4) Calculate t U i = 0 U i t 0 U i + a3 0 U i 5) Form effective mass matrix M = ( a0 M + a1C ) 6) Triangularize M = LDLT
1 a2
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The Central difference method: Solution procedure: B: For each time step 1) Calculate effective loads at time t:
t
R = t R ( K a2 M ) t U ( a0 M + a1C ) t t U
2) Solve for the displacements U at time t + t LDLT t +t U = t R 3) If required, solve for the corresponding velocities and accelerations
t
&& U = a0 ( t t U 2 t U + t +t U)
& U = a1 ( t t U + t +t U)
It is not required to factorize the stiffness matrix explicit method
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The Central difference method The effectiveness of the central difference method depends on the efficiency of the time step solution because we need a lot of them For this reason the method is usually only applied when a lumped mass matrix can be assumed and when the velocity dependent damping can be neglected, i.e.: 1 M t +t U = t R 2 2 t t +t t t U i = Ri ( ), mii > 0 2 t 1 t t t t mii R = R K 2 M U 2 M U t t (i ) K t U = K (i ) t U = t F (i ) 1 i i t R = t R t F 2 M ( t t U 2 t U) t i
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The Central difference method: Example:

With natural periods: T1 = 4.45 T2 = 2.8
k1 = 4
m1 = 2
& && U 1 , U1 , U 1
R1 = 0
k2 = 2
m2 = 1
R2 = 10
&& 2 0 U1 6 2 U1 0 0 1 && + 2 4 U = 10 U 2 2
& && U 2 ,U 2 ,U 2
k3 = 2
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& t Ui = U i t U i + 2
0 0
2 0
&& Ui

&& 2 0 U1 6 2 U1 0 0 1 && + 2 4 U = 10 U 2 2
& && Ui = 0 U i t 0 U i + a3 0 U i
With Eigen periods: T1 = 4.45 T2 = 2.8
We will calculate the the response of the system for t=T2 /10 and for t=10 T2 over 12 time steps First we calculate
0
&& U
&& && 2 0 0U1 6 2 0 0 0U1 0 0 1 0 && + 2 4 0 = 10 0 && = 10 U2 U2

Then we continue with the steps
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&& 2 0 U1 6 2 U1 0 0 1 && + 2 4 U = 10 U 2 2

a0 = a0 = 1 , t 2 a1 = 1 , 2t a2 = 2a0 , a1 = a3 = 1 a2
1 = 12.8, (0.28) 2
a2 = 2 12.8 = 25.6,
t
1 = 1.79, 2 0.28 1 = 0.0392 a3 = 25.6
For t = 0.28
0 0 0 0 Ui = 0.28 + 0.0392 = 0 0 10 0.0392 = 12.8 2 0 + 1.79 0 0 = 25.5 0 M 0 1 0 0 0 12.8

t
2 t 25.5 0 t t = 0 + 45.0 R U 0 12.8 U 21.5 10 2
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&& 2 0 U1 6 2 U1 0 0 1 && + 2 4 U = 10 U 2 2
The Central difference method: Example: The equation which must be solved for each time step is:
25.5 0 U1 t 0 12.8 t +t = R U2
t +t
2 tU1 25.5 0 U1 0 45.0 t R = + t 0 12.8 t t 21.5 U 2 10 2 U2

t t
k1 = 4
m1 = 2
& && U 1,U 1,U 1
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R1 = 0
k2 = 2
m2 = 1
R2 = 10
The Central difference method: Example: The results are:
& && U 2 ,U 2 ,U 2
k3 = 2
6 5 4 3 2 1 0 0 0.5 1 1.5 2 2.5 3 3.5 4 CentralDifference_U1 CentralDifference_U2
For t=28 the solution increase steadily
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&& & MU + CU + KU = R
The Houbolt method
1 && U = 2 (2 t +t U 5 t U + 4 t t U t 2 t U) t 1 t +t & U= (11t +t U 18 t U + 9 t t U 2 t 2 t U) 6t
t +t
a b
a and b inserted in c
12 2 M+ C + K t +t U = 2 6t t 3 3 t t 1 t 2 t 5 4 1 t +t R + 2 M + C t U 2 M + C U + 2 M + C U 2 t 3t t t t t
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The Houbolt method We will not consider the Houbolt in more detail however it is noted that it is necessary to factorize the stiffness matrix (implicit method) Furthermore, if the mass and damping terms are neglected, the Houbolt method results in the static analysis equations
12 2 M+ C + K t +t U = 2 6t t 3 3 t t 1 t 2 t 5 4 1 t +t R + 2 M + C t U 2 M + C U + 2 M + C U 2 t 3t t t t t
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The Wilson method In this method the acceleration is assumed to vary linearly from time t to t + t
t +
&& && ( t +t U t U ) && && U = tU+ t
By integration we obtain
t +
2 t +t && t && & & && U = U + U + ( U U) 2t

t t
t +
1 && 1 3 t +t && t && & U = t U + t U + t U 2 + ( U U) 2 6t
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The Wilson method Setting = t we get

t +t
t t +t && t && & & && U = t U + t U + ( U U) 2
t +t
1 2 & && && U = t U + t Ut + (t ) ( t +t U + 2 t U ) 6

6
from which we can solve

t +t
&& U=
(t )
t +t
U t U)
6 t& && U 2t U t
t +t
3 t +t & & t t U && U= U t U) 2t U ( t 2
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t +t
&& U=
(t )
t +t
U t U)
6 t& && U 2t U t
The Wilson method
t +t
3 t +t & & && U= ( U t U ) 2 t U t t U t 2
We now solve for the displacements, velocities and accelerations by inserting into the dynamic equilibrium equation
&& & M t +t U + C t +t U + K t +t U =
t +t t +t
R = t R + ( t +t R t R )
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The Wilson method : Solution procedure: A: Initial calculations 1) Form stiffness matrix, mass matrix and damping matrix & && 2) Initialize 0 U, 0 U and 0 U 3) Select time step t and calculate integration constants = 1.4
a0 = a5 = 6
(t )
a2
a1 =
3 , t 3
a2 = 2a1 ,
a3 =
t
2
a4 =
a0
t a6 = 1 , a7 = , 2
t 2 a8 = 6
4) Form effective stiffness matrix 5) Triangularize K = LDLT
K = K + a0 M + a1C
Implicit procedure !
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The Wilson method : Solution procedure: B: For each time step 1) Calculate effective loads at time t:
t +t
& && R = t R ( t +t R t R ) + M (a0 t U + a2 t U + 2 t U) & && +C(a t U + 2 t U + a t U)

1 3 t +t
2) Solve for the displacements U at time t + t

LDLT t +t U =
t +t
3) Solve for the corresponding velocities and accelerations

&& & && U = a4 ( t +t U t U) + a5 t U + a6 t U t +t & & && && U = t U + a7 ( t +t U t U) t +t & && && U = t U + t t U + a8 ( t +t U + 2 t U)
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The Newmark method This method may be seen as an extension of the Wilson method
t +
& & && && U = t U + (1 ) t U + t +t U t
t +t
1 & && && U = t U + t Ut + ( ) t U + t +t U t 2 2
and are parameters which may be adjusted to achieve accuracy and stability =0.5, = 1/6 corresponds to the linear acceleration method which also correspond to the Wilson method with = 1 Newmark originally proposed =0.5, = 1/4 which results in an unconditionally stable scheme (the trapetzoidal rule)
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The Newmark method We now solve for the displacements, velocities and accelerations by inserting into the dynamic equilibrium equation t + & & && && U = t U + (1 ) t U + t +t U t t +t && t +t & t +t t +t M U+C U+K U = R 1 t +t t t & && && U = U + Ut + ( ) t U + t +t U t 2 2
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The Newmark method : Solution procedure: A: Initial calculations 1) Form stiffness matrix, mass matrix and damping matrix & && 2) Initialize 0 U, 0 U and 0 U 3) Select time step t and parameters and
a0 = a5 =
1,
1 , t 2
a1 =
, t
a2 =
a6 =
t ( 2), a7 = t (1 ), 2
1 , t
a3 =
1 1, 2
a4 = a8 = t
1 2
4) Form effective stiffness matrix 5) Triangularize K = LDLT
K = K + a0 M + a1C
Implicit procedure !
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The Newmark method : Solution procedure: B: For each time step 1) Calculate effective loads at time t: t +t & && R = t +t R + M (a0 t U + a2 t U + a3 t U) & && +C(a t U + a t U + a t U)
1 4 5
2) Solve for the displacements U at time t + t LDLT t +t U = t +t R 3) Solve for the corresponding velocities and accelerations
&& & && U = a0 ( t +t U t U) + a2 t U + a3 t U t +t & & && && U = t U + a t +t U + a t U
t +t
k1 = 4
m1 = 2
& && U 1,U 1,U 1
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R1 = 0
k2 = 2
m2 = 1
R2 = 10
The Newmark method : Example:

6 5 4 3 2 1 0 0 0.5 1 1.5 2 2.5 3 3.5
& && U 2 ,U 2 ,U 2
k3 = 2
Newmark_U1 Newmark_U2 CentralDifference_U1 CentralDifference_U2
k1 = 4
m1 = 2
& && U 1,U 1,U 1
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R1 = 0
k2 = 2
m2 = 1
R2 = 10
The Newmark method : Example:

7 6 5 4 3 2 1 0 0 3.5 3 2.5 2 1.5 1 0.5 0 Newmark_U1 Newmark_U2 0.5 1 1.5 2 2.5 3 3.5 4 Newmark_U1 Newmark_U2
& && U 2 ,U 2 ,U 2
k3 = 2
t = 28
0
&& 0 U= 10
t = 28
0
&& 0 U= 0
Method of Finite Elements II 0 0.5
1.5
2.5
3.5
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Coupling of integration operators For some problems it may be an advantage to combine the different types of integration schemes e.g. if a structure is subjected to dynamic load effect from hydrodynamic loading then the analysis of the hydrodynamic forces may be assessed using an explicit scheme and the structural response by using an implicit scheme. The best choice of strategy will depend on the problem in regard stability and accuracy!

Lecture 8

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Swiss Federal Institute of Technology

Method of Finite Elements II

Swiss Federal Institute of Technology

Contents of Today's Lecture

Method of Finite Elements II

Swiss Federal Institute of Technology

Introduction to Dynamic Analysis

Introduction The very basics

&& mx = w k ( + x) && mx w + k ( + x) = 0 && && mx k + k ( + x) = mx + kx = 0 k 2 && + x = && + n x = 0 x x m

& x = A sin nt + B cos n t t x = 0 x sin nt + 0 x cos nt

Swiss Federal Institute of Technology

Introduction to Dynamic Analysis

Swiss Federal Institute of Technology

Introduction to Dynamic Analysis

Method of Finite Elements II

Swiss Federal Institute of Technology

Introduction to Dynamic Analysis

Method of Finite Elements II

Swiss Federal Institute of Technology

Direct Integration Methods

Direct Integration Methods

Swiss Federal Institute of Technology

Direct Integration Methods

Direct Integration Methods

The displacements, velocities and accelerations

Method of Finite Elements II

Swiss Federal Institute of Technology

Direct Integration Methods

Direct Integration Methods We distinguish principally between Explicit methods:

Solution is based on the equilibrium equations at time t

Implicit methods: Solution is based on the equilibrium equations at time t + t

Method of Finite Elements II

Swiss Federal Institute of Technology

Direct Integration Methods

( a0M + a1C ) t +t U = t R ( K a2M ) t U ( a0M + a1C ) t t U

Method of Finite Elements II

Swiss Federal Institute of Technology

Direct Integration Methods

( a0M + a1C ) t +t U = t R ( K a2 M ) t U ( a0 M + a1C ) t t U

Method of Finite Elements II

Swiss Federal Institute of Technology

Direct Integration Methods

Method of Finite Elements II

Swiss Federal Institute of Technology

Direct Integration Methods

It is not required to factorize the stiffness matrix explicit method

Method of Finite Elements II

Swiss Federal Institute of Technology

Direct Integration Methods

Method of Finite Elements II

Swiss Federal Institute of Technology

Direct Integration Methods

The Central difference method: Example:

Method of Finite Elements II

Swiss Federal Institute of Technology

Direct Integration Methods

The Central difference method: Example:

With Eigen periods: T1 = 4.45 T2 = 2.8

&& && 2 0 0U1 6 2 0 0 0U1 0 0 1 0 && + 2 4 0 = 10 0 && = 10 U2 U2

Swiss Federal Institute of Technology

Direct Integration Methods

The Central difference method: Example:

1 = 1.79, 2 0.28 1 = 0.0392 a3 = 25.6