Lecture 1: Discrete Element Example of Finite Element Method 1

1 A Simple One-Dimensional Example of

Discretization
1.1 Objective
Our objective is to introduce one view of the finite element method using discrete elements.
In this view, the finite element method consists of the following steps:

1. Dividing the problem into elements.

2. Obtaining a stiffness matrix for each element.
3. Assembling each element stiffness matrix into a global matrix.
4. Solving the global matrix equations.
5. Post-processing

This approach is that used for frame analysis by civil engineers. It also is the basis of the
first papers on finite element analysis of a continuum (Clough, 1960). In later lectures we
will develop a more mathematical approach, where the finite element method will be
obtained using weighted residuals.

In this lecture, we will first illustrate the solution of a spring system by writing equations of
equilibrium. We will then write the stiffness matrix for a spring element and assemble these
into a global matrix. Finally, the solution using Gauss elimination simulates a computer
solution.

1.2 One-Dimensional Spring System

The example problem we will use is shown in Figure 1-1. This figure shows a system of
connected springs with a load. What we will call "nodes" (points at which elements are
connected) are indicated using circles and the "elements" (springs) are indicated using
squares. The displacement of each node is given by ui , where i is the node number.

Question 1: How dose the numbering of nodes and elements affect the solution?

MENG 4930/5150 Fall 2023 jeff.ma@slu.edu Page 1

Lecture 1: Discrete Element Example of Finite Element Method 2

u1 u2 u3

1 2
1
2 3 p
4
3

: Node
: Element (spring)

Figure 1-1: Spring System

1.3 Equations Using Nodal Equilibrium

Recall that the force in a spring is related to the stretching:

f = k (1.1)

where k is the spring stiffness and  is the spring stretching. The free body diagram at node
1 is:

f1 1 f2

Figure 1-2: FBD at node 1

The equation of equilibrium is:

F =0
X

− f1 + f 2 = 0
or − k1 (u1 ) + k 2 (u2 − u1 ) = 0 (1.2)

Similarly at node 2 (Figure 1-3):

MENG 4930/5150 Fall 2023 jeff.ma@slu.edu Page 2

Lecture 1: Discrete Element Example of Finite Element Method 3

f2

2 f4

f3

Figure 1-3: FBD at node 2

F X=0
− f2 − f3 + f4 = 0
− k 2 (u2 − u1 ) − k 3 (u2 ) + k 4 (u3 − u2 ) = 0 (1.3)

And at node 3 (Figure 1-4):

f4 3 p

Figure 1-4: FBD at node 3

F X=0
− f4 + P = 0
− k4 (u3 − u2 ) + p = 0 (1.4)

Now assemble (1.2), (1.3) and (1.4) into matrix form:

(k1 + k 2 )u1 − (k 2 )u 2 = 0
− (k 2 )u1 + (k 2 + k 3 + k 4 )u 2 − (k 4 )u 3 = 0
− (k 4 )u 2 + (k 4 )u 3 = p

or:
( k1 + k2 ) − ( k2 ) 0   u1   0 

 − ( k2 ) ( k2 + k3 + k4 ) − ( k4 ) u2  =  0  (1.5)
 0
 − ( k4 ) ( k4 ) u3   p
or:
Ku = p (1.6)

In finite element terminology, K is the stiffness matrix, u is the displacement vector and p
MENG 4930/5150 Fall 2023 jeff.ma@slu.edu Page 3
Lecture 1: Discrete Element Example of Finite Element Method 4

is the load vector. Note: Bold upper case is a matrix, bold lower case is a vector.

1.4 Equations Using Spring Element

Eq. (1.6) was obtained using equilibrium at each node. We will now show how the same
result can be obtained using the concept of a spring element with an associated element
stiffness matrix. A typical spring is shown in Figure 1-5. It has nodes i and j , associated
displacements (or degrees of freedom) ui and u j , and stiffness k .

ui uj

pie i j p ej

Figure 1-5: Typical spring element

The stiffness matrix may be thought of as the matrix that relates forces on an element to
displacements of the element, i.e.

? ?  ui   pi 
e

=
? ? u   p e  (1.7)
   j   j 

The coefficients of the stiffness matrix are the forces at the nodes that correspond to a unit
displacement at each node, holding all other degrees of freedom (DOF's) fixed. For example,
giving node i a unit displacement, while holding node j fixed results in the forces:

p ie = kui
p ej = − kui (1.8)

This gives the first column of coefficients in the element stiffness matrix:

 k ?  ui   p i 
e

=
− k ? u   p e  (1.9)
   j   j 

Similarly, giving node j a unit displacement, while holding node i fixed results in the forces:

pie = − ku j
p ej = ku j (1.10)

MENG 4930/5150 Fall 2023 jeff.ma@slu.edu Page 4

Lecture 1: Discrete Element Example of Finite Element Method 5

This completes the element stiffness matrix.

 k − k   ui   pie 
− k  = 
k  u j   p ej 
(1.11)


Note that the element matrix is symmetric.

To assemble the global stiffness matrix using the element approach, we must define a
relationship between the element node numbering scheme and the global numbering scheme.
We will do this for element 2 first, since this element is not associated with a boundary
condition. Referring to Figure 1-1, we see that for element 2, node i corresponds to global
node 1, and that node j corresponds to global node number 2. Letting i=1 and j=2, we can
take the associated element stiffness coefficients and place them in the global matrix.

 k2 − k2 0  u1   f 12 
    
− k 2 k2 0 u2  =  f 22  (1.12)
 0 0 0    
u3   0 

We now return to element 1. This element is a bit tricky, because one of its nodes
corresponds to a known zero displacement in Figure 1-1. Therefore for element 1, node i
does not have an associated global node number, but that node j has a global node number of
1. Therefore, only the j local node contributes to the global matrix.

k1 0 0  u1   f 11 
    
0 0 0 u2  =  0  (1.13)
 0 0 0    
u3   0 

Proceeding in the same manner, for element 3 the contributions to the global matrix will be:

0 0 0  u1   0 
    
0 k 3 0 u2  =  f 23  (1.14)
0 0 0    
u3   0 

And finally, for element 4 the contributions to the global matrix will be:

0 0 0   u1   0 
    
0 k 4 − k 4  u2  =  f 24  (1.15)
0 − k 4 k 4     4
u3   f 3 

To obtain the complete global stiffness matrix, we add (1.12), (1.13), (1.14) and (1.15) (the

MENG 4930/5150 Fall 2023 jeff.ma@slu.edu Page 5

Lecture 1: Discrete Element Example of Finite Element Method 6

procedure in FEM is referred to as assembly), giving:

(k1 + k 2 ) − (k 2 ) 0  u1   f11 + f12 

 − (k )
 2 (k2 + k3 + k4 ) − (k4 ) u2  =  f 22 + f 23 + f 24  (1.16)
 0 − (k 4 ) (k4 )  u3   f 34 


Now, we can simplify the right hand side by recognizing that this is just a statement of
equilibrium at each node. This gives:

( k1 + k 2 ) − ( k2 ) 0   u1   0 

 − ( k2 ) ( k 2 + k 3 + k 4 ) − ( k 4 ) u2  =  0  (1.17)

 0 − ( k4 ) ( k 4 ) u3   p
Clearly, this is the same as obtained using nodal equilibrium, (1.5). We have thus
demonstrated how an element approach can be used to obtain the global stiffness matrix.
The advantage of the element approach is that assembling the matrix can be easily automated
for computer use.

Question 2: If an additional node, which is numbered 0, is put between the spring system and
the leftside wall, how will (1.17) look like?

Question 3: The stiffness matrix in FEM usually has a lot of zero elements. How to judge,
from the physical structure of the system being studied, whether an element of K is zero or
not?

Question 4: The assembly involves putting element stiffnesses together to form the global
stiffness matrix. Illustrate graphically how to decide the position in the global matrix.

1.5 Solution Using Gauss Elimination

As a simple reminder and to simulate the actual computer solution, we will solve (1.17) using
Gauss elimination. Assume that k1=500 lb/in, k2=250 lb/in, k3=2000 lb/in, k4=1000 lb/in,
and P=1000 lb, then the global matrix becomes:

 ( 750) − ( 250) 0   u1   0 
    
− ( 250) ( 3250) − (1000)  u2  =  0  (1.18)
 0 − (1000) (1000)  u3  1000
 

First, normalize row 1:

MENG 4930/5150 Fall 2023 jeff.ma@slu.edu Page 6

Lecture 1: Discrete Element Example of Finite Element Method 7

 (1) − ( 0.3333) 0   u1   0 
    
− ( 250) ( 3250) − (1000)  u2  =  0  (1.19)
 0 − (1000) (1000)  u3  1000

Next, zero the remaining coefficients in column 1 by multiplying row 1 by the appropriate
factor and subtracting row 1 from each of the remaining rows.

(1) − ( 0.3333) 0   u1   0 
    
0 ( 3166.7) − (1000)  u2  =  0  (1.20)
 0 − (1000) (1000)  u3  1000

Normalize row 2 and repeat:

(1) ( − 0.3333) 0   u1   0 
    
0 (1) − ( 0.3158)  u2  =  0  (1.21)
 0 0 ( 684.2)  u3  1000

Finally backsubstitute to obtain the final answer:

01538
. 
 
u = 0.4616 (1.22)
14615 
. 

Question 5: In what situations, apart from singular matrix, will the Gauss elimination
method become ill behaved? How to overcome the problem?

Question 6: If a truss member, which has an area A, length L and Young's modulus E, is
made equuivalent to a spring, what should be the value of k for the spring?

1.6 Check Solution

It is always necessary to view numerical results with skepticism until confidence in the
solution can be justified. We will check our solution by calculating the forces in the springs.
For spring 1, the force is:

f1 = k1 (u1 )
= 250(01538
. ) (1.23)
f1 = 77 lb

The other forces are calculated in a similar manner and plotted in Figure 1-6.

MENG 4930/5150 Fall 2023 jeff.ma@slu.edu Page 7

Lecture 1: Discrete Element Example of Finite Element Method 8

77 lb 77 lb
1000 lb 1000 lb
1
2 3

923 lb

Figure 1-6: Spring force

As can be seen, the results satisfy equilibrium.

1.7 Hints to Questions

Q1: The solutions will be the same at the same physical locations.
Q2: (omit)
Q3: Look at the connectivity between two nodes.
Q4: Use the relation between local numbering and global numbering.
Q5: When the diagonal term is not dominating. Use row and column pivoting.
Q6: k=AE/L

MENG 4930/5150 Fall 2023 jeff.ma@slu.edu Page 8