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CHAPTER 12
Important issues regarding nonlinear analysis of structures are described.Three types of nonlinearities are introduced with an emphasis on geometrical and material nonlinearities. Nonlinear formulations for one dimensional bars and beams are described, as well as generalization to multi-dimensional problems. The most recent solution techniques are presented. Applications are placed on beams, frames, plates and shells.
Nonlinear analysis
Introduction.............................................................................................................................................................. 12.1.1 General........................................................................................................................................................ 12.1.2 A nonlinear geometrical problem............................................................................................................... 12.1.3 Nonlinear material behaviour..................................................................................................................... 12.2 Stiffness relationship for beam with axial force................................................................................................... 12.2.1 General........................................................................................................................................................ 12.2.2 Comparison of alternative stiffness matrices for lateral deformations of a bem with axial force.............. 12.3 Formulations for nonlinear geometrical behaviour of bars and beams with axial and lateral deformation 12.3.1 General........................................................................................................................................................ 12.3.2 Methods with updated coordinates............................................................................................................. 12.3.3 Total Lagrangian formulation for a beam with axial and lateral deformation............................................ 12.3.4 Generalization............................................................................................................................................. 12.4 Nonlinear material behaviour................................................................................................................................ 12.4.1 One dimensional case................................................................................................................................. 12.4.2 Generalization............................................................................................................................................. 12.4.3 Cyclic plasticity, shakedown and ratchetting............................................................................................... 12.5 Solution techniques.................................................................................................................................................. 12.5.1 General........................................................................................................................................................ 12.5.2 Load increnmental methods........................................................................................................................ 12.5.3 Iterative methods........................................................................................................................................ 12.5.4 Combined methods..................................................................................................................................... 12.5.5 Advanced solution procedures................................................................................................................... 12.5.6 Direct integration methods......................................................................................................................... 12.6 Applications............................................................................................................................................................. 12.6.1 General........................................................................................................................................................ 12.6.2 Beams and frames....................................................................................................................................... 12.6.3 Plane stress, plates and shells..................................................................................................................... 12.7 Analysis of accidental load effects...................................................................................................................... 12.6.1 General........................................................................................................................................................ 12.6.2 Fires and explosions................................................................................................................................... 12.6.3 Ship impacts................................................................................................................................................ Appendix A Solution of the differential equation of a beam with axial load........................................................... Appendix B General formulation for geometrically nonlinear behaviour.............................................................. Appendix C Plasticity theory....................................................................................................................................... Reffrences ................................................................................................................................................................... 12.1 page 12.2 12.2 12.5 12.14 12.17 12.17 12.18 12.20 12.20 12.23 12.28 12.35 12.36 12.36 12.42 12.43 12.45 12.45 12.48 12.57 12.56 12.58 12.63 12.67 12.67 12.67 12.74 12.84 12.84 12.86 12.88 12.94 12.99 12.106 12.116
12.1
12 Nonlinear Analysis 12.1 Introduction 12.1.1 General Linear versus nonlinear analysis Structural analysis including the finite element method is based on the following principles: Equilibrium(expressed by stresses) Kinematic compatibility (expressed by strains) Stress-strain relationship So far, the analysis has been based on the assumptions that Displacements are small The material is linear and elastic When the displacements are small, the equilibrium equations can be established with reference to the initial configuration. Moreover, this implies that the strains are linear functions of displacement gradients (derivatives). The linear elastic stress-strain relationship corresponds to Hookes law. The relationship between load and displacement for structures with nonlinear behaviour may be as shown in Fig. 12.1. When the ultimate strength of structures that buckle and collapse is to be calculated, the assumptions about small displacements and linear material need to be modified. If the change of geometry is accounted for, when establishing the equilibrium equations and calculating the strains from displacements, a geometrical nonlinear behaviour is accounted for. Various examples are given in Fig. 12.1. In section 12.1.2, a quantitative example is completely washed out. Analogously, material nonlinear behaviour is associated with nonlinear stress-strain relationship. An example is given in Section 12.1.3. Finally, nonlinearity may be associated with the boundary condition, i.e. when a large displacement leads to contact. Boundary non-linearity occurs in most contact problems, in which two surfaces come into or out of contact. The displacements and stresses of the contacting bodies are usually not linearly dependent on the applied loads. This type of non-linearity may occur even if the material behavior is assumed linear and the displacement are infinitesimal, due to the fact that that the size of the contact area is usually not linearly dependent on the applied loads, i.e. doubling the applied loads does not necessarily produce double the displacement. If the effect of friction is included in the analysis, then slick-slip behaviour may occur in the contact area which adds a further non-linear complexity that is normally dependent on the loading history.
12.2
Fig. 12.1c shows a typical contact problem of a cylindrical roller on a flat plane. Initially the contact is at a single point, and then spreads as the load is increased. The increase in the contact area and the change in the contact pressure are not linearly proportional to the applied load. Another example is shown in Fig. 12.1c where the tip of the cantilever comes into contact with a rigid surface.
12.4
Reasons for nonlinear stress analysis There are several areas where nonlinear stress analysis may be necessary (Moan et al., 2002): Direct use in design for ultimate and accidental collapse limit states. Modern structural design codes refer to truly ultimate failure modes and not only first yield and analogous modes. Use in the assessment of existing structures whose integrity may be in doubt due to (a) visible damage (crack, etc.) concern over corrosion or general ageing. The above will largely relate to the ultimate limit state because, in many cases, the serviceability limit state will already have been exceeded and yet key question still remain such as: Is the structure safe? Should it be repaired and if so, how will any proposed strengthening work? Can it be kept in service for a little time longer? Use to help to establish the causes of a structural failure. Use in code development and research: (a) to help to establish simple code-based methods of analysis and design, (b) to help understand basic structural behaviour and (c) to test the validity of proposed material models. With the new generation of inexpensive yet powerful computers, solution cost is no longer the major obstacle it has been. However, the complexity of nonlinear stress analysis still remains to provide the expert as well as the unwary novice with many headaches. Nonlinear analyses are applied in all the ways mentioned above. However, a significant increase in the use of nonlinear stress analyses in the assessment of existing structures is envisaged and eventually in the direct design of more routine structures.This will occur as hardware becomes cheaper and faster and software becomes more robust and user-friendly. It will simply become easier for an engineer to apply direct analysis rather than codebased charts. However, problems will arise because the latter often include fiddle factors relating to experience, uncertainty, etc. The advent of more computer-based analysis procedures will lead to the need for a surrounding, probably computerbased, code to incorporate the partial factors including those factors (often now hidden) relating to the degree of uncertainty of the analysis. The analysis would have to be directly embedded in a statistical reliability framework.
12.1.2 A nonlinear geometrical problem Geometrical nonlinearity may be illustrated by the bar system shown in Fig. 12.2a (Bergan and Syvertsen, 1978). See also Crisfield (1991).
12.5
a) Geometry
c) Deformation and equilibrium for large displacements ( r) Figure 12.2 Two-bar systems Linear model When r is small compared to h, the axial strain in the bar is
r sin o r = sin o cos o / cos o ( is positive when the bar shortens)
S = EA =
EA sin o cos o r
R = 2 S sin o =
or where R = Kr
2 EA sin 2 o cos o r
(12.1)
K=
2 EA 2 sin o cos o
The stiffness K is constant, implying a linear relationship between force and displacement.
12.6
R=
2 2 EA o r
(12.2)
Nonlinear model (large deformations) The true axial shortening for finite (not small) value of r is