BOUNDARY ELEMENT PROGRAMMING IN MECHANICS

XIAO-WEI GAO
Arizona State University

TREVOR G. DAVIES
Glasgow University

Si*1* ftp

CAMBRIDGE
UNIVERSITY PRESS

Contents

Preface Legal Matters

PART I. LINEAR PROBLEMS 1 Introduction

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page xiii xv

1.1. Introduction 1.2. A Note on Programming 1.3. Mathematical Preliminaries 1.4. Historical Sketch 1.4.1. Approximate Methods 1.4.2. BEM in Solid Mechanics 1.4.3. BEM in Elasticity 1.4.4. BEM in Elasto-Plasticity 1.5. Closure
2 Theory of Elasticity

3 3 5 12 12 13 14 14 15
16

2.1. Introduction 2.2. Displacements 2.3. Stresses 2.4. Stress-Strain Relationships 2.5. Navier-Cauchy Equations of Equilibrium 2.6. Reduced Forms in Two Dimensions 2.6.1. Plane Strain 2.6.2. Plane Stress 2.6.3. Axisymmetry 2.7. Anisotropic Materials 2.8. Closure
3 Boundary Integral Equations for Elasticity

16 16 17 18 19 20 21 22 22 23 24
25

3.1. 3.2. 3.3. 3.4. 3.5.

Introduction The Kelvin Fundamental Solution Betti's Reciprocal Work Theorem Somigliana Identity Boundary Integral Equations

25 25 27 28 30
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viii 3.6. Internal Stresses 3.7. Closure

4 Numerical Implementation

CONTENTS 31 33
34

4.1. Introduction 4.2. Boundary Discretization 4.3. Interpolation of Field Quantities 4.4. Discretized Boundary Integral Equations 4.5. Adaptive Integration 4.6. Singular Integration 4.6.1. Weakly Singular Integrals in Three Dimensions 4.6.2. Weakly Singular Integrals in Two Dimensions 4.6.3. Strongly Singular Integrals 4.7. Evaluation of Boundary Stresses 4.8. Symmetry 4.9. Corners and Edges 4.10. Multiple Regions 4.11. System Equation Solution 4.12. Closure
5 The Elastic Program Code

34 34 37 38 39 47 47 49 51 53 57 60 63 64 66
67

5.1. Introduction 5.2. Scope of the Program 5.3. Program Structure 5.4. Global Variables 5.4.1. Global Variables in Module Program Units 5.4.2. Global Variables Passed through Argument Lists 5.5. Main Program: BEMECH 5.6. Subroutine INPUT_CTR 5.7. Subroutine BLOCKJDATA 5.8. Subroutine INPUT-EL 5.9. Subroutine TREAT_T 5.10. Subroutine AXES.COS 5.11. Subroutine SHAPEF 5.12. Subroutines DSHAPE and DSHAP3D 5.13. Subroutine EL_COEFS 5.14. Subroutine ADAPTINT 5.15. Subroutine CHOSEGP 5.16. Subroutines SETGAS and GAUSSV 5.17. Subroutines MINDIST and IVSNR123 5.18. Subroutine INT_HG 5.19. Subroutine EVAL.HG 5.20. Subroutine FORM-HG ' 5.21. Subroutine SINGUHG 5.22. Subroutine SIN2DHG 5.23. Subroutine SETDSUB 5.24. Subroutine BDSTRS 5.25. Subroutine BSCOEF 5.26. Subroutine SYMTRY 5.27. Subroutine HGTOEQS

67 67 67 68 68 75 75 76 77 78 79 80 81 82 84 85 87 89 90 91 92 93 94 95 96 97 98 99 100

CONTENTS 5.28. 5.29. 5.30. 5.31. 5.32. 6.1. 6.2. 6.3. 6.4. 6.5. Subroutine INNERPS Subroutine EL-SOLVE Subroutine INVSOLVR Subroutines OUTPUT and SIGTITL Closure Introduction Thick-Walled Cylinder under Internal Pressure Circular Rigid Foundation on a Semi-Infinite Medium A Three-Dimensional Machine Component Closure 101 102 103 104 106
107

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6 Linear Applications

107 107 111 112 117

P A R T II. NONLINEAR PROBLEMS 7 Rate-Independent Plasticity Theory 121

7.1. Introduction 7.2. Isotropic Yield Criteria 7.2.1. Stress Invariants and Principal Stresses 7.2.2. The Tresca Criterion 7.2.3. The Von Mises Criterion 7.2.4. The Mohr-Coulomb Criterion 7.2.5. The Drucker-Prager Criterion 7.3. Principles of Elasto-Plastic Flow 7.4. Constitutive Relationships 7.5. Isotropic Hardening Materials 7.5.1. Equivalent Uniaxial Yield Criteria 7.5.2. Equivalent Plastic Strain 7.5.3. Explicit Derivations 7.6. Kinematic Hardening Materials 7.7. Mixed Hardening Materials 7.8. Closure
8 Boundary Integral Equations in ElastoPlasticity

121 121 122 123 124 124 125 126 128 130 131 131 132 134 135 136
138

8.1. 8.2. 8.3. 8.4. 8.5.

Introduction Boundary Integral Equations Internal Stress Integral Equations Integration of Strongly Singular Domain Integrals Closure

138 138 140 143 145

146

9 Numerical Implementation

9.1. Introduction 9.2. Domain Discretization 9.3. Weakly Singular Domain Integrals ', 9.4. Strongly Singular Domain Integrals 9.5. Boundary Stresses - Traction-Recovery Method 9.6. System Equations 9.6.1. Initial Stress Representation 9.6.2. Plastic Multiplier Representation 9.7. System Equation Solution 9.7.1. Newton-Raphson Method

146 146 148 149 150 153 153 154 156 156

CONTENTS 9.7.2. Transition from Elastic to Elasto-Plastic States 9.7.3. Automatic Incrementation of Boundary Loading 9.7.4. Summary 9.8. Closure
10 The Elasto-Plastic Program Code

157 158 159 160

162

10.1. 10.2. 10.3. 10.4. 10.5. 10.6. 10.7. 10.8. 10.9. 10.10. 10.11. 10.12. 10.13. 10.14. 10.15. 10.16. 10.17. 10.18. 10.19. 10.20. 10.21. 10.22. 11.1. 11.2. 11.3. 11.4. 11.5. 11.6. 11.7.
12 Epilogue

Introduction Scope of the Program Program Structure Global Variables Subroutine INPUT.NL Subroutine NL.COEFS Subroutine INT_CELL Subroutine SESLCELL Subroutine CELL-BOUND Subroutine EVALJCE Subroutine INTSUBC Subroutine PBSCOEF Subroutine NL-SOLVE Subroutine PL-FLOW Subroutine DF-DSIG Subroutine P-MJTER Subroutine MATRICES Subroutine SIG-SCALE Subroutine SIGCROSS Subroutine DFJvlATRX Subroutine UPDATEV Closure Introduction A Cube Subjected to Uniaxial Tension A Thick-Walled Cylinder Subjected to Internal Pressure A Rigid Punch under Plane Strain A Flexible Square Footing Multiplanar Tubular DX-Joint Closure

162 162 162 164 165 166 167 168 170 171 173 173 174 176 177 178 181 182 183 184 185 186
187

11 Nonlinear Applications

187 187 191 193 196 199 201

203

12.1. Review 12.2. The Way Forward 12.2.1. Automatic Integration 12.2.2. Computation of Boundary Stresses 12.2.3. Stress-Return Algorithm 12.2.4. System Equation Solver 12.2.5. Local Boundary Conditions 12.2.6. Nonlinear Hardening 12.2.7. Advanced Yield Functions 12.2.8. Finite Strain Elasto-Plasticity 12.2.9. Infinite Boundary Elements 12.2.10. Multiple Regions

203 203 204 204 204 205 205 206 206 206 207 207

CONTENTS Appendix A. Derivation of Kernel Functions A.I. Derivation of the Strain Kernel A.2. Derivation of the Stress Kernel A.3. Derivation of the Traction Kernel A.4. Kernel Functions for Plane Strain and Plane Stress Appendix B. Shape Functions B.I. One-Dimensional Shape Functions B.2. Two-Dimensional Shape Functions B.3. Three-Dimensional Shape Functions Appendix C. Degenerate Elements: Singular Mapping Appendix D. Elasto-Plastic Flow Theory D.I. Derivation of the Plastic Flow Rule and Plastic Loading Rule D.2. Derivations for Kinematic Hardening Materials D.3. Derivations for Mixed Hardening Materials D.4. Derivation of the Deformation State Function F Appendix E. Domain Integral Formulations E.I. Boundary Integral Equations: Initial Strain Formulation E.2. Analytical Integration of the Strongly Singular Volume Integral E.3. Interior Stress Equation: Initial Strain Formulation E.4. Analytical Integration of E,-y# in Two Dimensions E.5. Analytical Integration: Initial Strain Formulation Appendix F. Solution of the Nonlinear System Equations F.I. The Newton-Raphson Iterative Algorithm F.2. System Equation Solution Strategies F.2.1. The Initial Stress Iteration Technique F.2.2. The Implicit Solution Technique F.2.3. The Variable Stiffness Technique F.2.4. The Mixed Representation Technique Appendix G. Elements of Elasto-Plasticity Appendix H. Description of Input Data References Index 209 209 210 211 211 213 213 214 215 217 221 221 224 225 226 228 228 228 230 230 231 232 232 233 234 235 236 237 239 242 247 253

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