The Finite Element Method for the Analysis of
Non-Linear and Dynamic Systems
Prof. Dr. Eleni Chatzi
Numerical Recipes
Institute of Structural Engineering Method of Finite Elements II 1
Cheat Sheet
Basic Formulas
Galerkins method assumes that the approximate (or trial) solution, u, can
be expressed as a linear combination of the nodal point displacements ui ,
where i refers to the corresponding node number.
X
u(x) u h (x) = Ni (x)ui = N(x)u
i
The same applies for the weighting function w :
X
w (x) w h (x) = Ni (x)wi = N(x)w
i
The shape functions correspond to each degree of freedom (dof), and they
have to satisfy the condition of being equal to 1 at the node of the
corresponding dof and 0 everywhere else.
Institute of Structural Engineering Method of Finite Elements II 2
Cheat Sheet
Basic Formulas-Shape Functions
The order of the shape function is chosen based on the problems strong
form. Moreover, the shape functions are usually expressed in the
iso-parametric coordinate system
Bar Element
d 2u
For the standard bar element, the strong form is AE + f (x) = 0. The
dx 2
d2u
homogeneous form is AE dx 2 = 0 which is a 2nd order ODE with known solution:
u(x) = C1 x + C2 , i.e., a 1st degree polynomial.
The shape functions N() are therefore selected as 1st degree polynomials:
1
(1 )
u1
N() = 2
1
u2
(1 + )
2
Institute of Structural Engineering Method of Finite Elements II 3
Cheat Sheet
Basic Formulas-Shape Functions
Beam Element
d2 d 2
For the standard beam element, the strong form is EI 2 + f (x) = 0.
dx 2 dx
2 2
d d
The homogeneous form is EI 2 = 0 which is a 4th order ODE with
dx 2 dx
known solution: u(x) = C1 x3 + C2 x 2 + C3 x + C4 , i.e., a 3rd degree polynomial.
The shape functions H() are therefore selected as 3rd degree polynomials:
1
(1 )2 (2 + )
4 u1
1
(1 )2 (1 + ) 1
4
H() =
1
(1 + ) (2 + ) u2
2
4
1 2
2
(1 + ) ( 1)
4
Institute of Structural Engineering Method of Finite Elements II 4
Cheat Sheet
Basic Formulas-Stiffness Matrices
Going from Strong to Weak form yields the expressions of the equivalent
stiffness matrix for each element:
Bar Element
Z L
dNj (x) dNi (x)
Kij = AE dx
0 dx dx
Using matrix notation, the definition of the strain-displacement matrix
dN(x)
B= , and the definition of the Jacobian (since we are looking for
dx
dx x e x e
derivatives in term of x and not ultimately): J = d = 2 2 1 = h2 we
obtain:
Z L
EA 1 1
Ke = BT EABdx =
0 h 1 1
where h is the length of the element.
Institute of Structural Engineering Method of Finite Elements II 5
Cheat Sheet
Basic Formulas-Stiffness Matrices
Going from Strong to Weak form yields the expressions of the equivalent
stiffness matrix for each element:
Beam Element
L
d 2 Hj (x) d 2 Hi (x)
Z
Kij = EI dx
0 dx 2 dx 2
Using matrix notation, the definition of the strain-displacement matrix
d 2 H(x)
B= =, and the definition of the Jacobian (since we are looking
dx 2
dx
for derivatives in term of x and not ultimately): J = d = 2l we obtain:
Z L 12 6l 12 6l
EI 6l 4l 2 6l 2l 2
Ke = BT EI Bdx = 3
0 l 12 6l 12 6l
6l 2l 2 6l 4l 2
where l is the length of the element.
Institute of Structural Engineering Method of Finite Elements II 6
Numerical Integration
Note: Gaussian Quadrature
A number of integrals need be evaluated for the formulation of both the
stiffness matrices as well as the load vectors.
How may we numerically calculate integrals of general functions using an
automated way?
First note that when using an iso-parametric formulation these integrals
are typically expressed within the range of [1 1].
Gaussian Quadrature enables calculation of such integrals using the
following approximation:
Z 1 X
f (x)dx wi f (xi )
1 i=1
This rule succeeds in delivering an exact result for polynomials of degree
2n 1 or less by a suitable choice of the points xi and weights wi for
i = 1, ..., n.
Institute of Structural Engineering Method of Finite Elements II 7
Numerical Integration
Note: Gaussian Quadrature
Depending on the order of the polynomial to be approximated, the
corresponding order (number of point) for the quadrature are selected
along with the corresponding weights from the following table:
# Points xi wi
1 p{0} 2
2 { p1/3} 1
3 q{0, 3/5}
p
{8/9, 5/9}
4 { 3/7 2/7 6/5, {(18 + 30)/36,
q p
3/7 + 2/7 6/5} (18 30)/36}
The scheme can be extended to 2 or 3 dimensions in a similar manner.
Institute of Structural Engineering Method of Finite Elements II 8
