Geometric Non-Linear (GNL) Analysis using ANSYS

By
Santhosh M
Technical Support,
ANSYS India-Bangalore.
Webinar : 28 Sep 2011-
Way forward
This presentation does NOT discuss about the basics of non-
linear finite element method, but about understanding of
nonlinear FEA and to answer the following questions:
What is it ?
When do we need it ?
How does it work ?
Importance of different controls/selections
Examples
Tips
2
No Less equations
But mostly solid mechanics equation.
Contents
Motivation
Small and large deformation problems
Classifications of GNL problems
Large / Finite strain
Large displacements & Large rotation
Stress Stiffening
Spin Softening
Nonlinear strain & stress measures
Kinematic & Constitutive relations
Solution Schemes & Convergence
Meshing consideration
Result interpretation
3
How bad the result can go,
if geometric nonlinearities not considered?
4
1m long 3mm thick 1m x 1 m steel plate with fixed edges
subjected to pressure of 0.1 Mpa
How bad the result can go,
if geometric nonlinearities not considered?...
5
Load carried by bending
1 m long 3mm steel plate deflects by 782 mm !!!
783 mm
How bad the result can go,
if geometric nonlinearities not considered?...
6
Load carried by in-plane tension (membrane effect)
Courtesy : Paul-Belcan
GNL Calculation
783 mm
16 mm
A simple hand calc: Analytical
7
L
d
F
o
o
E A
1
2
3
F
N
12
N
23
N N N = =
23 12
Static :
The displacement U can be obtained
by equating the internal energy and
the external work.
External work done by the force F
U F W
e
2
1
=
Internal work for one bar
} } }
= = =
v v v
v
A E
N
v
E
v W d

d d
2 2
i
2
2
1
2
1
2
1 o
c o
L A V
A N
E



=
=
=
o
c o




i
A E
L N
W
2
2
1
=
Internal work for the truss

) ( cos


i
o
2
2
4 A E
L F
W =
) ( cos A E 2
L F
U W W
2
e i
o
= =
This problem can be solved using
classical structural mechanics.
) cos(o 2
F
N = (1)
(2)
F
U
F
=

K
U
W
e
Equate External & Internal work
Ref : KTH university
8
Ref: http://en.wikipedia.org/wiki/Direct_stiffness_method
2 1
2 1
cos
sin
x x
C
L
y y
S
L
o
o

= =

= =
L
1
2
o
(x
1
,y
1
)
(x
2
,y
2
)
T
L
d
F
o
o
E A
1
2
3
Truss Element matrix
A SIMPLE HAND CALC: FEM
L
d
F
o
o
E A
1
2
3
x
y
(

=
) ( sin ) sin( ) cos(
) sin( ) cos( ) ( cos

2
2
o o o
o o o
L
A E
12
K
(

=
) ( sin ) sin( ) cos(
) sin( ) cos( ) ( cos

2
2
o o o
o o o
L
A E
32
K
For the whole structure,
Assembling of the stiffness matrix:
)
`

=
)
`

0
0
0 2
2
2
F
V
U
L
A E

) ( sin
) ( cos

2
2
o
o
which gives
0
2 2

) ( cos 2


2
= = V
A E
L F
U
o
L = 1 m
d = 0.001m
5 kg
steel
1 cm
m
2
1
56 1
001 0 005 0 10 2
81 9 5
2 2 11
2
.
. .
.
U =


=
t
This result is obviously not correct.
Where is the mistake in our calculations ?
A SIMPLE HAND CALC: FEM
9
Numerical Example
1 m long steel rod deflects by 1.56 m !!!
Element stiffness matrices;
Mistakes done using classical mechanics.
The equilibrium of the structure is
evaluated in the undeformed
configuration. But vertical
displacement U makes a large change
in the angle .
The expression of the external virtual
work, assumes that U is proportional
to F, which is not the case here. U is
also function of
F
U
F
=

K
U
W
e
Mistakes done using FEM.
The transformation matrix T is
evaluated in the undeformed
configuration. Large change in the
angle with respect in U is not
accounted in stiffness matrix.
For a single bar, only a displacement
in the bar direction gives a strain ,
which is correct only for small
displacements.
L
u
v
L
u = 0
v
L
u
= c
0 = c
WHAT IS GOING WRONG ?
10
L
d
F
L
U

The calculations have been done by assuming that the displacements are very
small compared to the geometry of the structure.
L
L L'
EA EA N
L'
U d
N F

= =
+
= c 2
) ( U d
L' L
A E F +
|
.
|

\
|
=
1 1
2
2 2 2
d L U d L' + + = ) (
L
d
F
L
U
How to do it right ?
11
Need to be solved iteratively.
A non-linear analysis is done by studying
the structure in the deformed
configuration, incrementally.
) ( cos A E 2
L F
U
Solution Linear
2
o
=
50
F (N)
U (m)
0.014
Numerical application
1 m long steel cable deflecting 4 mm, makes sense !
11
Deflectio
n
10
20
1
2 3
I/P
30
0/P
What is nonlinearity ?
12
System
I/P O/P
Force,Pressure,
Temp, etc,
Defl, Stress,Strain,etc
K,M,C
How different nonlinear behavior is?
From linear behavior
If a structure experiences large enough deformations, such that its
altered configuration changes the stiffness of the structure, then
this is referred as a geometric nonlinearity, which can cause the
structure to respond in a stiffened or a softened manner.
13
P=K.U
Example for
Hardening| Softening
14
Example for
Hardening| Softening
15
F increment
U increment
Understanding about GNL
Most engineers associate GNL problems with large displacements
effects such as buckling.
However, GNL problems can also involve small displacements.
16
GNL theory often predicts less displacement (realistic) than the
corresponding small deflection theory for hardening behaviour.
782 mm
15 mm
Linear analysis Non-Linear analysis
Why should a FE analyst worry about GNL?...
As the DOF(Deflections) are primary o/p in FEA, any error in deflection also
affects are derived results such as stress & strain.
Not always an easy to decide whether the obtained solution is a good or a
bad one.
If experimental or analytical results are available then easily possible to
verify any finite element result.
In absence of reference results, Requires background about;
Finite element method in general.
Software used to solve the problem.
To be able to judge the appropriateness of the chosen elements and
algorithms fromthe ANSYS library.
17
Terminology :
Small and large deformation problems
Compared to initial dimensions of the geometry
Small Infinitesimal / Negligible
Say : 1 mlong bar stretched by 1 mm
Finite Large but not infinite / not negligible
Say : 10 mm long bar stretched by 1 mm
18
Ref : NPTEL
Classifications of GNL problems
In order to classify GNL problems, it is best to focus on whether
strain is assumed small or large, as strain measure normalizes the
deformation with dimension of the geometry.
1. Small & Large (Finite) strain
2. Large displacements & Large rotation
3. Stress Stiffening
4. Spin Softening
19
Large rotation (rigid), no strain
Large strain
Large Deflection / Large Rotation but
Small strain GNL problems
In this category, the change in the spatial orientation of the
elements can be finite (large) but the induced strains remain small.
Example :
Shallow struts, shells and arches deflected by a transverse load.
Fishing rod bent under the weight of a heavy fish
Buckling of an imperfect column.
Snap- through buckling of deep arch.
20
Large Deflection / Large Rotation but
Small strain GNL problem
Assumes that the rotations are large but the mechanical strains (those that
cause stresses) are evaluated using linearized expressions.
The structure is assumed not to change shape except for rigid body
motions.
Example: VM40
21
CERIG Vs MPC 184 in large rotation problems
22
MPC 184 does update the nodal coordinates based on deformed position of the
structure
Different views
CERIG Vs MPC 184 in large rotation problem
23
However, recognize that there are some situations in which coupling
or constraint equations can be valid in a nonlinear analysis. For
example:
You can couple together constrained DOFs at a rigid boundary.
Constraint equations may be valid for large strain, small rotation
response.
Think carefully before using coupling or
constraint equations in large rotation
problems!
CERIG does not update the coefficients based on deformed position of the structure.
Ref : KTH university
Large (finite) strain GNL problems
In this category, as the structure deflects, the localized deformations are large
enough that the strains are no longer infinitesimal.
Deflections and rotations may be arbitrarily large.
Shape changes (e.g. area, thickness, etc.) are also accounted for.
With large strains, it is also important to model material non-linearity such as
plasticity, hyper elasticity, if required.
Example
Metal forming and manufacturing processes
Deformation of rubber-like materials is a typical analysis in which finite strains
are experienced.
24
Classifications of GNL problems
1. Large / Finite strain
2. Large displacements / Large rotation
3. Stress Stiffening / Pre-stress
4. Spin Softening
25
Stress stiffening (SSTIF,ON)
Stress stiffening is the stiffening (or weakening) of a structure due to its stress state .
The out-of-plane stiffness of a structure can be significantly affected by the state of in-
plane stress in that structure.
This coupling between in-plane stress and transverse stiffness, known as stress stiffening.
The effect of stress stiffening is accounted for by generating and then using an
additional stiffness matrix, hereinafter called the stress stiffness matrix.
26
Example
Guitar string
Cloth membrane
Spin softening
Spin softening / centrifugal softening accounts for the radial motion of a body's
structural mass as it is subjected to an angular velocity. Hence it is a type of large
deflection but small rotation approximation.
27
F F
Initial stiffness
Spin softening
In large deflection analysis change in geometry is accounted no need to activate
this effect explicitly.
Hierarchy of GNL problems
You may think of GNL in terms of a hierarchy:
1. Large strain
2. Large deformation & large rotation
3. Stress stiffening
4. Regular linear analysis
28
Spin softening
Small deflection &
rotation
Stress stiffening
Large def & rot
Large strain
Terminology :
Effective/Consistent Stiffness matrix
A fully consistent tangent stiffness matrix [K
e
nl
] is made up of four
components:
[K
e
nl
] = [K
e
ini
]+ [K
e
inc
] + [K
e
o
] + [K
e
u
] + [K
e
a
]
[K
e
ini
] => initial elastic stiffness matrix
[K
e
inc
] => incremental tangent matrix.
[K
e
o
] => stress-stiffening matrix.
[K
e
u
] => initial displacement-rotation matrix, which includes the
effect of changing geometry in the stiffness relation.
[K
e
a
] => pressure load stiffness matrix, which includes the effect of
changing pressure load orientation in the stiffness relation.
29
An element can experience large displacement, large rotation, large strain and non
linear material behavior.
The aim of the finite element solution is to evaluate the equilibrium position at
discrete (load increments) time points 0, t, t, 2t,3t, . Etc.
For a static analysis t corresponds to load increment between sub steps.
30
100 N
NSUBST,10
Load increment = 10 N
10 N
20 N
30 N
100N
Kinematic relations in GNL
Kinematic relations in GNL
Kinematic relations
Change in geometry as the structure deforms is taken into account in setting up
Strain-displacement relationship equations
Equilibrium equations
Kinematic relations are the relations between displacements and the strain
components
In linear analysis, strain components can be found from differentiating the shape
function and multiplying with nodal displacements.
31
Example: axial strain component in x-direction.
Section displacement
Shape function
Node displacements
Constitutive relation
In physics, a constitutive equation is a relation between two physical quantities that
is specific to a material or substance, and approximates the response of that
material to external forces.
As an example, in structural analysis, constitutive relations connect applied stresses
to strains or deformations.
Constitutive relations are the relations between strain components and stress
components.
The stress-strain constitutive relation for linear materials commonly known as
Hooke's law.
Also called as
Stress-strain relation
Constitutive assumption
Equation of state
32
Constitutive relation in linear system
33
3D generalized Hooks law
Plane stress
D matrix depends on problem dimensionality and material model
kinematic and constitutive relations
A nonlinear finite element equilibriumequation
contain the displacement and strain-displacement matrix plus the constitutive matrix
of the material.
In order to use an element for a specific response prediction, it is necessary that both
the kinematic and constitutive descriptions to be appropriate.
34
{ } { } c o ] [D =
{ } { }
{ } { } U B D
U B
] ][ [
] [
=
=
o
c
From Constitutive law
From kinematic relation
| |{ } U B D B U K
v
T
dv } ]{ [
}
=
Basic Solution Scheme
Numerical solutions of problems involving non-linearity usually attempt
to replace the continuous non-linear displacement by a series of
linearised increments of displacements.
The challenge is to calculate the nonlinear displacement response using a
linear set of equations.
ANSYS uses an iterative process called the Newton-Raphson method.
35
Nonlinear Response
Linear Response
Displacement
External Load
[K] {U} ={F}
Newton-Raphson algorithm
Applies the load gradually, in increments.
Performs iterations at each load increment to drive the incremental solution to
equilibrium.
Solves the equation [K
T
]{Au} = {F} - {F
nr
}
[K
T
] = tangent stiffness matrix
{Au} = displacement increment
{F} = external load vector
{F
nr
} = internal force vector
Iterations continue until {F} - {F
nr
}
(difference between external and internal Loads) is within a tolerance.
36
Displacement
F
[K
T
]
1
2
3
4
equilibrium
iterations
F
nr
Au
Newton-Raphson algorithm
37
Internal forces
(1)
Residual
(1)
[K
t
]
Known equilibrium configuration
Residual
(2)
Internal forces
(2)
100 N
50 N
100 N
NSUBST,2
Level of external forces constant
D
F
ap
The stiffness matrix is updated at every equilibrium iteration.
{R}={F
a
} - {F
i
} ~ 0
Tolerance & Convergence criteria
The iteration process described in the previous section continues until convergence is achieved.
{R}={F
a
} - {F
i
} Residual (out-of- balance) force
||R|| <
r
.R
ref
Criterion
|| u | | <
u
.U
ref

R
and
u
are tolerances (TOLER on the CNVTOL command)

R
= Defaults to 0.005 (0.05 % ) for force and moment,

u
= Defaults 0.05 (5%) for displacement
38
F
u
Criterion
The solution is converged when
Residual < Criterion
Graphical Solution Tracking
39
Convergence criteria guidelines:
Default convergence criteria work well most of the time.
You should rarely need to change the criteria.
Do not use a loose criterion to eliminate convergence
difficulties.
This simply allows the solution to converge to an
incorrect result!
Tightening the criterion requires more equilibrium
iterations, but more close to actual equilibriumsolution.
40
Meshing consideration
Use appropriate element types.
Not all elements support geometric nonlinearities!
Some have no geometric nonlinear capability.
For example, CONTAC52 and PRETS179.
Others have only limited geometric nonlinear capability.
For example, SHELL63 does not support large strain.
Workbench take care of element selection automatically.
Anticipate mesh distortion.
ANSYS shape-checking examines the quality of the mesh prior to the first
iteration.
In a large strain analysis, the mesh can become significantly distorted after
the first iteration.
Poor element shapes are undesirable in every iteration.
Prevent poor shapes fromdeveloping by modifying the original mesh.
Rezoning feature shall be looked at.
41
Meshing consideration
42
Replace quad elements with two triangles to prevent 180 corner angles.
Output Interpretation
When post processing, realize that:
ANSYS reports true stress & true strain.
Calculated nodal displacements are reported in the original directions, because
nodal coordinate systemorientations are not updated for large deflections.
Stress and strain components rotate with most elements, because most element
coordinate systems followthe element.
43
Y
X
Other learning resources
44
When to do Large deflection analysis ?
Initial guide lines, not always applicable
In Plates, transverse deflection in a linear analysis is more than about half the
thickness of the plate.
In Beams, if the moment arm is expected to change, amount of stretch or
compression is more or load is expected to change orientation.
In Solids, most of the time bulky metal structures does not under go large
deformation. However exception are 3D structures made up of Rubber , Plastics,
etc.
45
If you are not sure to include or exclude the geometric nonlinear
effects in the simulation, nonlinear calculation is for sure always the
better choice.
However, if a linear calculation has already been performed and the
resulting strains are small for example below 2% the error in the
analysis will be small and acceptable. If more than 5% strain is
indicated a geometric nonlinear analysis should be performed to obtain
better results.
How to Activate GNL analysis ?
ANSYS doesnt knowwhether to the problemis linear or nonlinear.
User need to NLGEOM,ON Command to instruct ANSYS to do nonlinear
analysis.
46
Summary
Geometric nonlinearities
Geometric nonlinearities refer to the nonlinearities in the structure due to the
changing geometry as it deflects.
That is, the stiffness [K] is a function of the displacements {u}.
GNL is accounted by NLGEOM,ON command.
GNL problemare solved iteratively using Newton-Rapshon technique.
Combination of right kinematics, right constitutive relation, right mesh and
right solution control parameters need to be used to over come divergence
issues.
47
Topic : Webinar : Linear & NonLinear Buckling Analysis using ANSYS
Date : November 9, 2011
Time : 12:30 am, Eastern Standard Time (New York, GMT-05:00)
Contact : Mahek.Khubchandani@ansys.com
Next Webinar on this series