A. Portela • A.

Charafi
Finite Elements Using Maple
Springer-Verlag Berlin Heidelberg GmbH

ONLINE lIBRARY
Engineering
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A. Portela • A. Charafi

Finite Elements Using Maple

A Symbolic Programming Approach

lst ed. 2002. Corr. 2nd printing

, Springer
Professor Artur Portela
New University of Lisbon
Civil Engineering Department
Faculty of Science and Technology
Quinta da Torre
2825-114 Caparica
Portugal
e-mail: [email protected]

Dr. Abdellatif Charafi

University of Portsmouth
Computational Mathematics Group
School of Computer Science and Mathematics
Mercantile House
Portsmouth POl 2EG
United Kingdom
e-mail: [email protected]
Additional material to this book can be downloaded from http://extras.springer.com.
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Portela, Artur:
Finite elements using maple : a symbolic programming approach 1 A. Portela ; A. Charafi.-
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(Engineering online Iibrary)
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Preface

Almost alI physical phenomena can be mathematicalIy described in terms of

differential equations. The finite element method is a tool for the approxi-
mate solution of differential equations. However, despite the extensive use of
the finite element method by engineers in the industry, understanding the
principles involved in its formulation is often lacking in the common user.
As an approximation process, the finite el~nt method can be formu-
lated with the general technique of weighted residuals. This technique has
the advantage of enhancing the essential unity of alI processes of approxima-
tion used in the solution of differential equations, such as finite differences,
finite elements and boundary elements. The mathematics used in this text,
though reasonably rigorous, is easily understood by the user with only a basic
knowledge of Calculus.
A common problem to the courses of Engineering is to decide about the
best form to incorporate the use of computers in education. Traditional com-
pilers, and even integrated programming environments such as Turbo Pascal,
are not the most appropriate, since the student has to invest much time in
developing an executable program that, in the best of cases, will be able
to solve only one definitive type of problems. Moreover, the student ends up
learning more about programming than about the problem that he/she wants
to solve with the developed executable program. The use of electronic spread
sheets does not improve substantialIy this panorama since, beyond stil! de-
manding a significant effort of programming, they do not have the didactic
characteristics necessary to the education in Engineering.
Maple is a computational environment with symbolic, numerical and
graphical programming capabilities that alIows a radical change in the way
computers are used in education. Effectively, Maple software can be used in
the form of non-declarative programming which means that the user telIs
the system what to do, without telling it how to do. Thus, Maple opens to
the student the possibility of investing less time in programming and much
more time in the study of the problem under consideration. Maple software
embodies advanced technology that includes symbolic computation, infinite
precision numerics and a powerfullanguage for solving a wide range of mathe-
matical problems encountered in modelling and simulation, as well as in tech-
nica! education. Over a million world-wide users have adopted Maple system
VIII Preface

as their preferred platform for exploring and managing complex problems in

engineering, science, mathematics and education. Virtually every major uni-
versity and research institute in the world, including Massachusetts Institute
of Technology, Stanford, Oxford and Waterloo, have adopted Maple software
as an essential tool to enhance their education and research activities.
This textbook illustrates how Maple can be used in a finite element intro-
ductory course. Providing the user with a unique insight into the finite ele-
ment method, along with symbolic programming that fundamentally changes
the way applications can be developed. This book is an essential tool written
to be used as a primary text for an undergraduate or early postgraduate
course, as well as a reference book for engineers and scientists who want to
develop quickly finite-element programs. The book is split into 7 chapters
and 1 appendix.
Chapter 1 presents a brief introduction of the computational system
Maple, referring only to the aspects considered relevant in programming
the finite element method which include mainly symbolic programming and
graphic visualization.
Chapter 2 presents an introduction to Computational Mechanics which
deals with the mathematical modelling process of physical systems. The chap-
ter begins with the presentation of the essential objective of the whole mod-
elling process, the substitut ion of the continuous model of the physical system
by a discrete model that is represented by a system of algebraic equations. A
classification of physical systems, based on the type of the differential equa-
tion that defines the respective continuum model, is presented. As a conse-
quence of the difficulty in obtaining analytical solutions of the differential
equation that represents the continuous model of the physical system, the
discretization process is then introduced to generate discrete models which
lead to approximate solutions.
Chapter 3 deals with the formulation of weighted residual approxima-
tion methods. The general equation of weighted residuals is presented as the
start ing point of their formulation. The chapter considers first the case of
approximation functions with a global definition and indirect discretization,
setting up their admissibility conditions. Domain and boundary models are
defined on the basis ofthe possibility ofthe approximation function satisfying
the boundary conditions. The methods of Galerkin, least squares, moments
and collocation, obtained by defining the appropriate weighting functions,
are presented. Integration by parts of the general weighted residual equa-
tion is used to obtain weaker admissibility conditions for the approximation
function, leading to the weak and transposed forms of the weighted residual
equation. Approximation functions with a piecewise continuous definition and
direct discretization are then considered, as well as their respective admissi-
bility conditions. Finally, the models of finite differences, finite elements and
boundary elements are presented, as representative of the direct methods
with piece-wisely defimid continuous approximation.
Preface IX

Chapter 4 presents some topics of interpolation. The chapter begins with

general aspects of interpolation with both global and piecewise functions.
The difficulty of spline interpolation is contrasted with the simplicity of finite-
element interpolation. Finite element interpolation functions, defined in terms
of generalized coordinates, are first introduced along with the convergence
conditions, referred to as conditions of compatibility and completeness. Finite
elements with interpolation in terms of shape functions are then considered.
Natural coordinates as well as curvilinear coordinates are introduced leading
to the formulation of parametric finite elements.
Chapter 5 introduces the finite element method. A steady-state continu-
ous model, with a scalar variable, is considered for two--dimensional problems.
Linear triangular isoparametric finite elements are used. The finite element
package Cgt_fem, specially developed using Maple, is used to present the
basic steps in the application of the finite element method.
Chapter 6 applies the finite element method to problems of Fluid Me-
chanics. A description of continuous models relative to perfect-fluid flows,
free-surface flows and flow through porous media is first presented. Finally,
the finite element method is applied to sol ve steady-state problems, with the
Maple package CgtJem.
Chapter 7 formulates and applies the finite element method to problems
of Solid Mechanics. The presentation, confined to the linear theory, deals with
the so--ca!led assumed-displacement formulation. The chapter begins with a
summary of the general continuous model that is the three-dimensional the-
ory of elasticity, presenting the concepts of static and kinematic admissi-
bility. The correspondence between the work theorem, specified for a vir-
tual displacement, and the equation of weighed residuals is then presented.
The minimum total potential energy is used to show that the finite element
model is more rigid than the exact solution. Asymptotic models, derived from
the three-dimensional model, are established for both one-dimensional and
two--dimensional structural elements. The essential aspects of finite-element
meshes are analyzed focusing, in particular, on the respective topology op-
timization. Maple package CstJem, specially developed for the finite ele-
ment analysis of two--dimensional elasticity problems with linear triangular
isoparametric elements, is then presented aud applied to the solution of sev-
era! problems.
Appendix A presents details of the content of the companion CD-ROM.
AH the application examples ofthe book are included in the CD-ROM, where
the results are presented in colour and with animations.
The approach followed in this book allows the reader to have an integrated
view of the mathematical modelling aspects of physical systems. Furthermore,
the unity in the formulation of the finite difference, finite element and bound-
ary element approximation methods emerges clearly in this text. The finite
element method is now well established as a tool for numerical solution of
mathematical models in Engineering. However, the use of symbolic compu-
x Preface

tation in Maple system delivers new benefits in the analysis that may have a
real impact on teaching the method.
FinalIy, the authors wish to thank alI those who made this book possible,
specialIy our families for giving us the time, which should have been theirs,
to write this book.
New University of Lisbon, Portugal Artur Portela
University of Portsmouth, United Kingdom Abdelatiff Charafi
Contents

1. Introduction to Maple . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Basics................................................. 1
1.2 Entering Commands .. . .. .. . . . . . . . . . . .... .. . .... . . ... . . . 1
1.3 Fundamental Data Types . . . . . . . . . . ... . . . . . . . . . . . . . . . . . . . . 3
1.4 Mathematical Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.5 Names................................................ 4
1.6 Basic Types of Maple Objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.6.1 Sequences....................................... 5
1.6.2 Lists............................................ 6
1.6.3 Sets............................................ 6
1.6.4 Arrays.......................................... 7
1.6.5 Tables.......................................... 7
1.6.6 Strings.......................................... 8
1.7 Evaluation Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.7.1 Levels of Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.7.2 Last-Name Evaluation ............................ 9
1.7.3 One-Level Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.7.4 Special Evaluation Rules .... . . . . . . . . . . . . . . . . . . . . .. 10
1.7.5 Delayed Evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 10
1.8 Aigebraic Equations .................................... 11
1.9 Differentiation and Integration . . . . . . . . . . . . . . . . . . . . . . . . . .. 12
1.10 Solving Differential Equations . . . . . . . . . . . . . . . . . . . . . . . . . . .. 14
1.11 Expression Manipulation ....... . . . . . . . . . . . . . . . . . . . . . . . .. 15
1.12 Basic Programming Constructs. . . . . . . . . . . . . . . . . . . . . . . . . .. 16
1.13 Functions, Procedures and Modules. . . . . . . . . . . . . . . . . . . . . .. 16
1.14 Maple's Organizat ion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 19
1.15 Linear Algebra Computations . . . . . . . . . . . . . . . . . . . . . . . . . . .. 20
1.16 Graphics .............................................. 31
1.17 Plotter: Package for Finite Element Graphics ............. 34
1.17.1 Example ............... . . . . . . . . . . . . . . . . . . . . . . . .. 39
1.17.2 Example ........................................ 41
1.17.3 Example ........................................ 42
XII Contents

2. Computational Mechanics ................................ 45

2.1 Introduction........................................... 45
2.2 Mathematical Modelling of Physical Systems . . . . . . . . . . . . . .. 45
2.3 Continuous Models .............................. ,. . . . .. 47
2.3.1 Equilibrium..................................... 47
2.3.2 Propagation..................................... 49
2.3.3 Diffusion........................................ 51
2.4 Mathematical Analysis ................................. , 52
2.5 Approximation Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 52
2.6 Discrete Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 55
2.7 Structural Models ................ . . . . . . . . . . . . . . . . . . . . .. 56

3. Approximation Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 59
3.1 Introduction........................................... 59
3.2 Residuals.............................................. 60
3.3 Weighted-Residual Equation . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 61
3.3.1 Example........................................ 61
3.4 Approximation Functions ............................... , 62
3.5 Admissibility Conditions ................................ 62
3.5.1 Example........................................ 63
3.6 Global Indirect Discretization . . . . . . . . . . . . . . . . . . . . . . . . . . .. 64
3.6.1 Satisfaction of Boundary Conditions . . . . . . . . . . . . . . .. 65
3.6.2 Domain Methods of Approximation . . . . . . . . . . . . . . . .. 66
3.6.3 Galerkin Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 66
3.6.4 Least Squares Method ............................ 67
3.6.5 Moments Method ................................ 67
3.6.6 Collocation Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 68
3.6.7 Example........................................ 70
3.6.8 Example........................................ 82
3.7 Integration by Parts .... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 84
3.7.1 Strong, Weak and Transposed Forms ................ 84
3.7.2 One-Dimensional Case... . . .. .. . . . .... ...... .... .. 85
3.7.3 Example........................................ 85
3.7.4 Higher-Dimensional Cases . . . . . . . . . . . . . . . . . . . . . . . .. 86
3.7.5 Example........................................ 88
3.8 Local Direct Discretization .............................. 88
3.8.1 Nodes and Local Regions. . . . . . . . . . . . . . . . . . . . . . . . .. 89
3.8.2 Satisfaction of Boundary Conditions . . . . . . . . . . . . . . .. 89
3.8.3 Finite Difference Method . . . . . . . . . . . . . . . . . . . . . . . . .. 90
3.8.4 Finite Element Method ........................... 93
3.8.5 Boundary Element Method . . . . . . . . . . . . . . . . . . . . . . .. 96
3.8.6 Example........................................ 98
3.8.7 Example........................................ 113
3.8.8 Example ........................................ 132
Contents XIII

4. Interpolation . ............................................ 135

4.1 Introduction ........................................... 135
4.2 Globally Defined Functions .............................. 136
4.2.1 Polynomial Bases ................................. 136
4.2.2 Example ........................................ 137
4.2.3 Example ........................................ 138
4.2.4 Conclusions ...................................... 142
4.3 Piecewisely Defined Functions ............................ 143
4.3.1 Spline Interpolation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 143
4.3.2 Finite Element Interpolation ....................... 144
4.4 Finite Element Generalized Coordinates ................... 145
4.4.1 Convergence Conditions ........................... 145
4.4.2 Geometric Isotropy ............................... 146
4.4.3 Finite Element Families ........................... 146
4.5 Finite Element Shape Functions .......................... 148
4.5.1 Natural Coordinates .............................. 150
4.5.2 Curvilinear Coordinates ........................... 156
4.5.3 Example ........................................ 157
4.6 Parametric Finite Elements .............................. 161
4.7 Isoparametric Finite Elements ............................ 162
4.7.1 Convergence Conditions ........................... 162
4.7.2 Evaluation of Element Equations ................... 164
4.7.3 Numerical Integration ............................. 166
4.8 Linear Triangular Isoparametric Element .................. 168
4.8.1 Example ........................................ 169
4.8.2 Example........................................ 171
4.8.3 Example........................................ 174
4.8.4 Example........................................ 176

5. The Finite Element Method .............................. 179

5.1 Introd uction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 179
5.2 Steady-State Models with Scalar Variable ................. 179
5.2.1 Continuous Model ................................ 180
5.2.2 Weighted Residual Galerkin Approximation .......... 183
5.2.3 Discrete Model ................................... 185
5.3 Finite Element Mesh .................................... 186
5.3.1 Linear Triangular Isoparametric Element ............ 187
5.3.2 Total Potential Energy ............................ 188
5.3.3 Internal Potential Energy Density .................. 188
5.3.4 Mesh Topology ................................... 189
5.4 Local Finite Element Equations .......................... 190
5.5 Global Finite Element Equations ......................... 192
5.6 Exact Boundary Conditions .............................. 193
5.7 Solution of the System of Equations ...................... 194
5.8 Computation of Derivatives .............................. 194
XIV Contents

5.9 Finite Element Pre- and Post- Processing .................. 196

5.10 Cgt_fem: Package for Finite Element Analysis ............. 197
5.10.1 Data Preparation ................................. 197
5.11 Example .............................................. 198
5.12 Example .............................................. 208
5.13 Example .............................................. 213
5.14 Example .............................................. 217

6. Fluid Mechanics Applications ............................. 223

6.1 Introduction ........................................... 223
6.2 Continuous Models of Fluid Flow ......................... 223
6.2.1 Incompressible Fluids ............................. 223
6.2.2 Inviscid Fluids ................................... 224
6.2.3 Irrotational Flows ................................ 224
6.2.4 Steady-State Flows ............................... 224
6.2.5 Bernoulli's Energy Conservation .................... 225
6.2.6 Velocity Potential ................................ 226
6.2.7 Stream Function ................................. 226
6.3 Confined Flows ......................................... 227
6.4 U nconfined Flows ...................................... 228
6.5 Groundwater Flows ..................................... 229
6.5.1 Darcy's Hypothesis ............................... 229
6.5.2 Dupuit's Hypothesis .............................. 231
6.6 Example .............................................. 232
6.6.1 Flow U nder a Dam ............................... 232
6.6.2 Problem's Solution ............................... 233
6.7 Example .............................................. 240
6.7.1 Flow in an Unconfined Aquifer ..................... 240
6.7.2 Problem's Solution ............................... 241

7. Solid Mechanics Applications ............................. 251

7.1 Introduction ........................................... 251
7.2 Continuous Models ..................................... 251
7.3 Fundamental Continuous Model: Elasticity Theory ......... 252
7.3.1 Strain-Displacement Equations ..................... 253
7.3.2 Equilibrium Equations ............................ 253
7.3.3 Stress-Strain Equations ........................... 254
7.3.4 Boundary Conditions ............................. 254
7.3.5 Elastic Fields .................................... 255
7.3.6 The Work Theorem ............................... 256
7.3.7 Theorem of Virtual Displacements .................. 256
7.3.8 Theorem of Total Potential Energy ................. 256
7.4 Finite Element Model ................................... 257
7.4.1 Weighted Residual Equation ....................... 257
7.4.2 Theorem of Work ................................ 258
Contents xv

7.4.3 Theorem of Virtual Displacements .................. 259

7.4.4 Discretization .................................... 259
7.5 Mesh Topology ......................................... 261
7.5.1 Total Strain Energy .............................. 261
7.5.2 Distribution of the Strain Energy Density ........... 262
7.6 Constrained Displacements .............................. 262
7.7 Application of the Finite Element Model .................. 264
7.8 Three-Dimensional Equilibrium States .................... 265
7.8.1 Constant-Strain Tetrahedron Element ............... 265
7.9 Two-Dimensional Equilibrium States ...................... 267
7.9.1 Plane Stress and Plane Strain ...................... 267
7.9.2 Asymptotic Model: Plane Elasticity ................. 269
7.9.3 Constant-Strain Triangular Isoparametric Element .... 270
7.9.4 CsLfem: Package for Finite Element Analysis ....... 273
7.9.5 Data Preparation ................................. 274
7.9.6 Example ........................................ 275
7.9.7 Example ........................................ 281
7.9.8 Example ........................................ 284
7.9.9 Example ........................................ 292
7.10 One-Dimensional Equilibrium States ...................... 302
7.10.1 Asymptotic Model: Theory of Bars ................. 303
7.10.2 Truss Element ................................... 312
7.10.3 Skew Elements ................................... 314
7.10.4 Beam Element ................................... 315
7.11 Further Study .......................................... 318

A. The Companion CD-ROM ................................ 319

References .................................................... 321

Index ......................................................... 323