8/12/2014

CE4257: Linear Finite Element Analysis:

Part C: Axisymmetric Elements

Somsak Swaddiwudhipong
Department of Civil & Environmental Engineering
National University of Singapore

Tel:
6516-2173
Room: E1A-07-10
Email: ceesomsa@nus.edu.sg

Objectives and Intended Outcome

Objectives
To demonstrate the formulation of axisymmetric finite elements
and

their

applications

to

solve

axisymmetric

problems

(involving axisymmetric geometries under axisymmetric loads).

Intended Outcome
You should be able to (i) develop axisymmetric finite elements,
(ii) adopt appropriate axisymmetric elements to analyse
axisymmetric problems and (iii) further study to solve
problems

involving

nonsymmetrical loads.

axisymmetric

geometries

under
2

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Part C: Axisymmetric Elements

4.8 Axisymmetric Elements
4.8.1 Elasticity of Axisymmetric Problems
4.8.2 Triangular Axisymmetric Element, TA3
4.8.3 Quadrilateral Axisymmetric Element, QA4
4.8.4 Boundary Conditions
4.8.5 Concluding Remarks

Applications of Axisymmetric Elements

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4.8 Axisymmetric Elements

z

Fig 4.8.1 Axisymmetric element

z is axis of
symmetry.

There are other cases where problems involving 3-D continua and forces
can be reduced to a 2-D problem. Specifically, we are concerned with
problems that are solids of revolution, with material properties and
loads unchanged along the circumference of revolution.
For such cases, displacements can only occur in the radial (outwards from
the centre along the radius) and axial (vertical along axis of revolution)
directions; there are no component in the circumferential direction, v(r,z)=0.
The appropriate coordinate system to use is cylindrical coordinate system.

Axisymmetric Elements:
Z is axis of symmetry.

Fig 4.8.2 Cylindrical

coordinate stress components
for axisymmetric problems

For axisymmetric problems, v and

terms involving (_) vanish and
hence,
v 1 u
=0 ;
r r
r r
v 1 w
=0
z z
z r
Though v=0,
2 (r u ) 2 r u

=
2 r
r
Hence, only the 4 components of (strain
and hence) stress shown in Fig. 4.8.2
exist. As v=0 and besides hoop strain,
out-of-plane components of strain (and
stress) vanish, axisymmetric cases are
similar to plane strain problems with
the presence of hoop strain (and hoop
stress).

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4.8.1 Elasticity of Axisymmetric Problems

Only displacements in the r-z plane exist and all variables are independent
of . The strains are given by:
u
w
u
w u
r
; z
;
; rz

(4.8.1)
r
r
z
r z

r 0

0

z u
z
(4.8.2)
w
1
0
rz r

0
1

z r 4 2
1

E
D

1
0
(1 )(1 2 )

D
(4.8.3)
1 2
sym
(4.8.4)
2

4.8.2 Triangular Axisymmetric Element, TA3:

Similar to T3 element,

u1

u N1u1 N2u2 N3u3 N1 N2 N3 u2

w2

u
3

Ni (ai bi r ci z) / det A
a1 r2z3 r3z2
b1 z2 z3
a2 r3 z1 r1z3
b2 z3 z1
a3 r1z2 r2z1
b3 z1 z2

w1

Fig 4.8.3 Triangular

axisymmetric element

1 r1

z1

1 r3

z3

c1 r3 r2
c2 r1 r3
c3 r2 r1

det A 1 r2 z2 2 * area of triangle

(4.8.5)

(4.8.6)

(4.8.7)

Similar derivations may be made for displacement interpolation function

w(r,z), in the z-direction.
Writing both displacements in vector form,
u
w

N1u1 N2u2 N3u3 N1 0 N2 0 N3

N1v1 N2v 2 N3v 3 0 N1 0 N2 0

u1
w
1

0 u2
Nui

N3 w 2
u3

w 3

(4.8.8)

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Strain-Displacement Relation
Formulation procedure for element properties is similar to that of T3
element. We have to add row 3 in strain matrix for hoop strain, that is,

r
r
0

z
1
rz r

N1
0
r

0
z u
w N
0 1
r

N1

r
z

b1

0
1
B
2 A 2 AN1
r

c1

N 2
r

N 3
r

N1
z

N 2
z

N 3
z

N2
r
N 2
z

0
N1
r

N3
r
N 3
z

0
N 2
r

b2

b3

c1

c2

c3

2 AN 2
r

2 AN 3
r

b1

c2

b2

c3

b3

0
N 3
r

u1
w
1
u2
w Bu i
2
u3
(4.8.9)

w
3

(4.8.10)

Strain matrix B is not a constant matrix.

Stiffness Matrix
K BTDBdV 2 rBTDBdr .dz
V

(4.8.11)

B is not a constant matrix and the evaluation of the integral in Eq (4.8.11)

is no longer a simple procedure. We adopt either numerical integration
or the following approximate method to evaluate the integral values.

K K B DB dV B DB dV B DB 2 r A
3

r
r
r

z
,
r

(4.8.12)
(4.8.13)

B is B evaluated at r and z . Eq (4.8.12) provides acceptable accurate

Fi

ui
K

results if small elements are used in the regions of high stress

gradients. Once the consistent vector Fi is evaluated as shown in the
next few slides, we have got the required set of element stiffness

equations:

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Consistent Force Vectors::

Consistent Force Vector is derived from 3 actions:
(i) Nodal circumferential line forces, pi;
(ii) Surface tractions, T along an edge;
(iii) Body Forces, b

z
3

Pi

F = P+PT+Pb

(4.8.14)

(a) Nodal Circumferential Line Forces, pi:

We normally set a uniform line forces along the circular ring node i. The
circumferential line load of pir or piz on the structure is equivalent to a point
load Pir or Piz on axisymmetric element at the same node on the elements
cross sectional view, and
Pi 2 ri pi

P 2 r1 p1r r1 p1z r2 p2 r r2 p2 z r3 p3r r3 p3 z

(4.8.15)

If only a line force is applied along a circular ring node, say node 2,
then only r2p2r and r2p2z exist. All other terms in Eq (4.8.15) vanish.

Consistent Force Vectors

(b) Surface Tractions, T along Edge 1-2:
PT N T TdA 2 rN T TdS
A

N1
0

N
2 2
0
S
N3

0
rL1

0
N1

rL2
0 Tr
rdS 2
N 2 Tz
0
S
0
0

N 3
0

S is the coordinate
along element edge.

L
r

L
r
L
r
r

0
rL1
0 Tr
(4.8.16)
dS
rL2 Tz
0

1 1 2 2 3 3
0
The kernel of integral in Eq (4.8.16) involves LiLj that can be integrated in
accordance with Eq (4.1.31) and finally we have for any inclined edge, l12:
Tr
(2r1 r2 )Tr
T
(2r r )T
For vertical edge,
z
z
1
2

r1=r2=r and hence: 2 rl T

r
12
2 l12 (r1 2r2 )Tr (4.8.17)
PT
(4.8.18)
PT

T
2
6 (r1 2r2 )Tz
z
0

0
l12 is the length of edge 1-2.

0
0

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Consistent Force Vectors

L
r

0
rL1

0
N1

rL2
0 br
rdA 2
N 2 bz
0
A
rL3
0

N 3
0
1 1 2 2 3 3

L
r
L
r
r

N1
0
(c) Body Forces, b:

N
Pb N TbdV 2 rN TbdA 2 2
0
V
A
A
N3

0
rL1
0 br
dA
rL2 bz
0 (4.8.19)

rL3

(
r
3
r
)br
1

(r1 3 r )bz

_
2 A (r2 3 r )br
Pb

(4.8.20)
_
12
( r 3 r )bz
2

(r 3 r_ )b
r
3
_

( r3 3 r )bz

The kernel of integral in Eq (4.8.19) involves LiLj

that can be integrated using Eq (4.1.30) and finally
we have, for constant br and bz:

Even when br and bz are constant in each

element, Pb does not distribute the values
at each node equally. Why?

Ex 4.8.1 Triangular Axisymmetric Element, TA3:

z

bz 10 N cm3
3 (3.6)

w1

w2

(2,4)

2 (4,4)

u2

The coordinates (in cm) of a triangular ring

element are as shown in Fig E4.8.1. The
element is under the body forces of br=0 and
bz=-10 N/cm3. Evaluate the approximate
strain matrix and the consistent force vector.

Eq (4.8.6): a1 r2z3 r3 z2 (4)(6) (3)(4) 12

a2 r3 z1 r1z3 (3)(4) (2)(6) 0
r
Fig E4.8.1 Triangular axisymmetric
a3 r1z2 r2z1 (2)(4) (4)(4) 8
element [Area of triangle is (2)(2)/2=2].
b1 z2 z3 4 6 2
b2 z3 z1 6 4 2
a
2ANi
z
( i bi ci ) / DetA
Eq (4.8.10):
b3 z1 z2 4 4 0
r
r
r
_ _
c
14
1 r3 r2 3 4 1
At (r , z ) (3, )
c
2 r1 r3 2 3 1
3
2AN1 a1
1 14 4
z 12
c3 r2 r1 4 2 2
( b c ) 2

u1

1r

2AN2

a2

a3

2AN3
r

3 3

14
4
( b2 c2 ) 0 2
r
r
9 9

(c)

8
28
4
( b3 c3 ) 0
r
r
3
9 9

1 r1

z1

1 2 4

1 r3

z3

1 3 6

(a)

det A 1 r2 z2 1 4 4
(24 12) (12 12) (8 16) 4

(b)

2(area of triangle)

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Strain Matrix and Force Vector

Eq (4.8.9):

b1

0
1
B

2 A 2 AN1
r

c1

b2

b3

c1

c2

c3

2 AN 2
r

2 AN 3
r

b1

c2

b2

c3

b3

2 0 2 0

0 1 0 1
_
1
B
4
4 4
0
0
9
9

1 2 1 2

0
0
4
9
2

(d)

(
r
3
r
)br
1

_
0

(2 3(3))(10)
110
(r1 3 r )bz

_
0
0
2 A (r2 3 r )br
Pb

N (e)
_
12
3 (4 3(3))(10) 3 130

(r 3 r )bz
2

0
0
w2
(r 3 r_ )b

r
3
(3 3(3))(10)
120
_
(4,4)

Pb does not distribute the

r
(r3 3 r )bz
values at each node equally.

Eq (4.8.20):

z
3 (3.6)

w1
1

(2,4)

u1

4.8.3 Quadrilateral Axisymmetric Element, QA4:

As an example, we will consider a QA4 element. The shape functions are
similar to those of Q4 element as follows:
N1 14 (1 s)(1 t )

N 2 14 (1 s )(1 t )

N 3 14 (1 s )(1 t )

N 4 14 (1 s )(1 t )

Geometry:
r N1 0

z 0 N1

N2
0

0
N2

N3
0

0
N3

Displacement:
u N1

w 0

0
N1

N2
0

0
N2

(4.8.21)
r1
z
1
r2

N 4 0 z2

0 N 4 r3
(4.8.22) z3

r4

z4

N3
0

0
N3

N4
0

Fig 4.8.4 Axisymmetric

QA4 master element
u1
w
1
u2

0 w2
(4.8.23)
N 4 u3
w3

u4

w4

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Strain-Displacement Relation:
Formulation procedure for element properties is similar to that of Q4
element. We have to add row 3 in strain matrix for hoop strain, that is,

r
r
0
z

1
rz r

N1

0
r

0
z u

w
N
0 1
r

r
z

N 2
r

N 3
r

N 4
r

N1
z

N 2
z

N 3
z

0
N1
r

N2
r
N 2
z

0
N 2
r

N3
r
N 3
z

0
N 3
r

r N1 s, t r1 N 2 s, t r2 N 3 s, t r3 N 4 s, t r4

N4
r
N 4
z

u
1
0 w1

N 4 u2

z w2
Bu i
u
0 3
w3
N 4 u
4
r w
4

(4.8.24)
(4.8.22)

Strain matrix B is normally derived through iso-parametric concept using

Jacobian transformation matrix.

Jacobian Transformation Matrix

Chain rule gives:
u u r u

s r s z
u u r u

t r t z

z
s
z
t

u r
s s

u r
t t

z u
u
r
s r
[J ]
z u
u
z
t z

(4.8.25)

where J is the Jacobian transformation matrix.

z u
u
u
z
z u z u

r
1
s 1 t
s s 1 t s s t

J

u
u J r r u J r u r u
t
s t t s
z
t
t s

(4.8.26)

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Jacobian Transformation Matrix:

Geometry: r N1 s, t r1 N 2 s, t r2 N 3 s, t r3 N 4 s, t r4
(4.8.22)

z N1 s, t z1 N 2 s, t z2 N 3 s, t z3 N 4 s, t z4
Jacobian:

[J ] s
r
t

z
s J1 J2

z J3 J4

(4.8.27)

N
N
N1
N
N
N
N
N
r 2 r 3 r 4 r J 1z 2 z 3 z 4 z
s 1 s 2 s 3 s 4 2 s 1 s 2 s 3 s 4
N
N
N
N
N
N
N
N
J3 1 r1 2 r2 3 r3 4 r4 J4 1 z1 2 z2 3 z3 4 z4
t
t
t
t
t
t
t
t

J1

(4.8.28)
The characteristics (qualities) of the transformation (Jacobian) J matrix
affect greatly the FE performances adopting iso-parametric concept.

Elements of Strain Matrix

u N1u1 N 2 u2 N3 u3 N 4 u4
u
u
z
r
1
s 1 t
J
u
u J r
z
t
t

z u
u
z u z u
u

J4
J2
s s 1 t s s t 1 s
t

r u J r u r u J u
u

J1
J3
s t t s
t
s t
s

N1
N
N
N
N
N
J
J2 1 J 4 2 J2 2 J 4 3 J2 3
1 4 s

s
t

N3
N3
N1
N2
N2
J N1
J1
J1
J3
J3
J3
J1
t
s
t
s
t
s

N
u1
u
Bir J4 i J2 i
u
r B

B
B
B

4r 2
1r
2r
3r


Ni
Ni
u B1z B2z B3z B4z u3
Biz J1
J3

u4
z
t
s

w
w
z w z w
w
r 1 t s s t 1 J 4 s J2 t B1r

w J r w r w J J w J w B1z
3
z
s t t s
1 t
s

(4.8.29)

N4
N u1
J2 4 u
s
t 2

N4
N4 u3
J1
J3

t
s u4

J4

J
J

(4.8.30)
w1

B2r B3r B4r w 2

B2z B3z B4z w 3 (4.8.31)

w 4

10

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Strain-Displacement Relation
u1
u
u
z u z u
u
r 1 t s s t 1 J 4 s J2 t B1r B2r B3r B4r u2
(4.8.30)

u J r u r u J J u J u B1z B2z B3 z B4 z u3
1
3
s
z
s t t s
t
u4
w1
w
w
z w z w
w
r 1 t s s t 1 J 4 s J2 t B1r B2r B3r B4r w 2
(4.8.31)

w J r w r w J J w J w B1z B2z B3z B4z w 3

1
3
z
s t t s
t
w 4
s

r
r
0

z
1
rz r

0
B1r

0
z u

w
N
0 1

B1z
r

B2 r

B3r

B4 r

B1z

B2 z

B3 z

N2
r

N3
r

N4
r

B1r

B2 z

B2 r B3 z

B3r

B4 z

u
1
0 w1

u
2

B4 z
w2
u Bu i
(4.8.32)
0 3
w3

B4 r u4
w
4

Gauss quadrature require values of strain matrix B at the Gauss point,

Ni=Ni(sG, tG), and

r N1 sG , tG r1 N 2 sG , tG r2 N 3 sG , tG r3 N 4 sG , tG r4

Stiffness Matrix
1 1

K BTDBdV 2 rBTDB J ds.dt

(4.8.33)

1 1

B is not a constant matrix and we normally adopt Gauss quadrature to

evaluate the integral in Eq (4.8.33). The values of r, B, D, and J are
evaluated at various Gauss points, (sG, tG).

Fi

ui
K

We have to (i) establish B via isoparametric concept, (ii) get the

expressions at various Gauss points, (iii) perform rBTDBJ, (iv) sum up
to get the integral values, and (v) multiply by 2 to establish the
stiffness matrix, K. Once the consistent vector Fi is evaluated as
shown in the next few slides, we have got the required set of element

stiffness equations:

11

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Consistent Force Vectors

F = P+PT+Pb

(4.8.34)

(a) Nodal Circumferential Line Forces, pi:

We normally set a uniform line forces along the circular ring node i. The
line load pir or piz on the structure is equivalent to a point load Pir or Piz on
axisymmetric element at the same node on the elements cross section,
and

Pi 2 rpi
P 2 r1 p1r r1 p1z r2 p2 r r2 p2 z r3 p3r r3 p3 z r4 p4 r r4 p4 z

(4.8.35)

If only a line force is applied along a circular ring node, say 3, then only
r3p3r and r3p3z exist. All other terms in Eq (4.8.35) vanish.

Consistent Force Vectors

(b) Surface Traction, T: dA 2 rdS

PT N T TdA 2 rN T TdS
A

Consider surface along t=ti: dS J t ti ds

Note that dS is the differential length,
while s is a natural coordinate.
1

PT N T TdA 2 rN T TdS 2
A

N1
0

N2

0
r
N3

0
N
4
0

0
N1
0

N 2 Tr
J ds
0 Tz t ti

(4.8.36)
N3
0

N 4

We normally adopt Gauss quadrature to evaluate the integrals.

r N1 sG , tG r1 N 2 sG , tG r2 N3 sG , tG r3 N 4 sG , tG r4

12

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Consistent Force Vectors

(c) Body Force, b:

dV 2 rdA 2 r J ds.dt

Pb N bdV 2 rN bdA 2
T

N1
0

N2

1
0
1 r N3

0
N
4
0

0
N1
0

N 2 br
J ds.dt
0 bz

(4.8.37)
N3
0

N 4

We normally adopt Gauss quadrature to evaluate the integrals.

r N1 sG , tG r1 N 2 sG , tG r2 N 3 sG , tG r3 N 4 sG , tG r4

4.8.4 Boundary Conditions

(a) Displacement u = 0 at the points along the axis of symmetry (z-axis);
(b) Remove rigid body motion in the z-direction by setting w = 0 (at least
at one node).

4.8.5 Concluding Remarks

1.

2.
3.

If geometry, materials and forces are axisymmetric, variables are

independent of and hence only u(r,z) and w(r,z) exist. 3-D
problems can be solved as 2-D with additional hoop strain and
stress;
Formulation process follows that of corresponding plane elements
with hoop actions and appropriate boundary conditions;
If geometry is axisymmetric but the loads are not, express the load
via Fourier series comprising both symmetric and antisymmetric
components and each part is handled separately. More details are
given in many textbooks including Asghar Bhati (2006), 154-166.

13

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Exercise 4.8: Axisymmetric Elements

Exercise E4.8.1: Establish the strain matrix B and the consistent force
vector for a quadrilateral ring element shown in Fig. E4.8.1.
6
8

(2,8)

5 (11,10)

4
2

1
30

(8,4)

(4,3)

10 N/mm

4
3

Length unit
in mm.

Fig. E4.8.1: Applied forces in axisymmetric element

14