Professional Documents
Culture Documents
Course Information
Instructor
Prof. Dr. Eleni Chatzi, email: chatzi@ibk.baug.ethz.ch
Office Hours: HIL E14.3, Wednesday 10:00-12:00 or by email
Assistant
Juan Escalln Osorio, HIL E10.2, email: ejuan@student.ethz.ch
Course Website
Lecture Notes and Homeworks will be posted at:
http://www.ibk.ethz.ch/ch/education
Suggested Reading
Nonlinear Finite Elements for Continua and Structures by T.
Belytschko, W. K. Liu, and B. Moran, John Wiley and Sons, 2000
The Finite Element Method: Linear Static and Dynamic Finite
Element Analysis by T. J. R. Hughes, Dover Publications, 2000
The Finite Element Method Vol. 2 Solid Mechanics by O.C.
Zienkiewicz and R.L. Taylor, Oxford : Butterworth Heinemann, 2000
Institute of Structural Engineering
Course Outline
Review of the Finite Element method - Introduction to
Non-Linear Analysis
Non-Linear Finite Elements in solids and Structural Mechanics
-
Eigenvalue Problems
Special Topics
- Extended Finite Elements, Multigrid Methods, Meshless Methods
Institute of Structural Engineering
Grading Policy
Continuous
q|y+dy
q|x
dy
dx
q|x+dx
q|y
h1
h2
Flow
of water
Permeable Soil
Impermeable Rock
F = KX
Direct Stiffness Method
2
2x
2
2y
=0
Laplace Equation
Equilibrium Equations
aL + ax
ex. f (x) = R +
(L x)
2
Constitutive Requirements
Equations
ex. = E
Kinematics Relationships
du
ex. =
dx
Institute of Structural Engineering
x
aL
ax
f(x)
L-x
Method of Finite Elements II
u
u u
A(x, y ) 2 ux + 2B(x, y ) xy
+ C (x, y ) 2 yu = (x, y , u, y
, y )
Problem Classification
B 2 AC < 0 elliptic
B 2 AC = 0 parabolic
B 2 AC > 0 hyperbolic
Institute of Structural Engineering
(Neumann BC)
(Dirichlet BC)
Diff. Equation
+ = 0
+ = 0
Quantities
T=temperature
A=area
k=thermal
conductivity
Q=heat supply
u=displacement
A=area
E=Youngs
modulus
B=axial loading
Constitutive
Law
Fourier
= /
= heat flux
Hooke
= /
= stress
9
10
11
T d = Wext =
T bd +
u
ST TS d +
u
iT RC i
u
where
TS : surface traction (along boundary )
b: body force per unit area
RC : nodal loads
: virtual displacement
u
: virtual strain
: stresses
Institute of Structural Engineering
12
ST Ts dT +
u
i
T
u
i RC
(b Ts , RC as defined previously)
Institute of Structural Engineering
13
[w (0)(c(0)u 0 (0) + C1 ] = 0
14
wg dx =
[wg ]l0
gw 0 dx
w cu dx =
0
wfdx + w (0)C1
0
S = {u|u C 0 , u(l) = 0}
S 0 = {w |w C 0 , w (l) = 0}
Institute of Structural Engineering
15
Weak Form
Notes:
1
A solution to the strong form will also satisfy the weak form, but not
vice versa.Since the weak form uses a lower order of derivatives it can
be satisfied by a larger set of functions.
For the derivation of the weak form we can choose any weighting
function w , since it is arbitrary, so we usually choose one that satisfies
homogeneous boundary conditions wherever the actual solution
satisfies essential boundary conditions. Note that this does not hold
for natural boundary conditions!
Institute of Structural Engineering
16
FE formulation: Discretization
How to derive a solution to the weak form?
Step #1:Follow the FE approach:
Divide the body into finite elements, e, connected to each other
through nodes.
Then break the overall integral into a summation over the finite
elements:
"
#
Z xe
X Z x2e
2
w 0 cu 0 dx
wfdx w (0)C1 = 0
e
x1e
x1e
17
where bold notation signifies a vector and Ni (x) are the shape functions.
In fact, the shape function can be any mathematical formula that helps us
interpolate what happens at points that lie within the nodes of the mesh.
In the 1-D case that we are using as a reference, Ni (x) are defined as 1st
degree polynomials indicating a linear interpolation.
As will be shown in the application presented in the end of this lecture, for the
case of a truss element the linear polynomials also satisfy the homogeneous
equation related to the bar problem.
Institute of Structural Engineering
18
,
xi1 x < xi
x
local
system of the element (see page
i+1
i
0,
otherwise
25).
Institute of Structural Engineering
19
u = [u1
u2 ]T
w = [w1
w2 ]T
X
he dNi
(Ni +
)wi
dx
i
= coth(
Pe e
2
) e
2
Pe
coth =
e x + e x
e x e x
20
w (x) =
Ni (x)wi = N(x)w
(similarly )
3
X
Ni (x)ui = N1 u1 + N2 u2 + N3 u3
u1
u(x) = [N1 N2 N3 ] u2 = N(x)u
u3
Institute of Structural Engineering
21
0
l
(wT NT )0 c(Nu)0 dx
wT NT fdx wT N(0)T C1 = 0
dN
(x)
j
dx
c
wj
dx
0
i
j
Z l X
X
f
wj Nj (x)dx
wj Nj (x)C1
=0
0
j
j
dNi (x)
ui
dx
x=0
22
"Z
wj
0
X
i
#
fNj (x)dx + (Nj (x)C1 )|x=0 = 0
The above equation has to hold wj since the weighting function w (x) is
an arbitrary one. Therefore the following system of equations has to hold:
!
Z l X
dNi (x) dNj (x)
cui
fNj (x)dx + (Nj (x)C1 )|x=0 = 0 j = 1, ..., n
dx
dx
0
i
After reorganizing and moving the summation outside the integral, this
becomes:
#
"
Z l
X Z l dNi (x) dNj (x)
c
ui =
fNj (x)dx + (Nj (x)C1 )|x=0 = 0 j = 1, ..., n
dx
dx
0
0
i
23
K = Ae K K =
x2e
NT
,x cN,x dx
x1e
f = Ae f e f e =
x2e
x1e
x2e
BT cBdx
x1e
NT fdx + NT h|x=0
24
i=1,2
1
N1 () = (1 ),
2
Institute of Structural Engineering
1
N2 () = (1 + )
2
Method of Finite Elements II
25
where N, =
and x, =
d
d
1
(1
2
1
(1
2
+ )
1
2
1
2
x e x1e
h
dx
= 2
= = J (Jacobian) and h is the element length
d
2
2
,x =
d
= J 1 = 2/h
dx
c
x2e x1e
1
1
1
1
26
1:K1
1
3
1
1 1
1
1
1
2,
0
1
1
1 1
2 =
1 1
2
3
1
2
3
27
u1
u2y
2
1:K1
2
2:K
u2x
u3
u1
1
11
1
12
1
Element Stiffness Matrices (4x4): = 1
13
1
14
u2y
1
12
1
22
1
23
1
24
1
13
1
23
1
33
1
34
1
2
44
+ 22
1
Total Stiffness Matrix (2x2): = 34
0
u2x
1
14
2
u1
11
1
2
24
1
12
2
1 u2y, = 2
34
13
1 2
2
44
14
u2y
1
34
1
33
2
24
u2x
u3
2
12
2
22
2
23
2
24
2
13
2
23
2
33
2
34
0 2
2 u2y
24
2
u2x
11
3
2
14
2
24
2
34
2
44
u2x
2
u3
3
28
29
(x)
R
=
E
AE
Hence, the deformation is obtained as:
(x) =
(x)
Rx
(x) =
x
AE
Note: The stress & strain is independent of x for this case of
loading.
(x) =
30
aL + ax
a(L2 x 2 )
(L x) = R +
( depends on x)
2
2
31
d
A = q(x)x + A( + ) A |{z}
lim
+ q(x) = 0 A
+ q(x) = 0
x
dx
x0
Also, =
du
d 2u
, = E , q(x) = ax AE 2 + ax = 0
dx
dx
Strong Form
d 2u
+ ax = 0
dx 2
u(0) = 0 essential BC
du
f(L) = R AE
dx
AE
= R natural BC
x=L
Analytical Solution
u(x) = uhom + up u(x) = C1 x + C2
ax 3
6AE
32
AE
0
d 2u
wdx +
dx 2
axwdx = 0
0
AE
dx
2
dx
dx
dx dx
0
0
0
Z L
Z L
d 2u
du dw
du
du
AE 2 wdx = AE
(L)w(L) AE
(0)w(0)
AE
dx
dx
dx
dx
dx dx
0
0
AE
AE
0
du dw
dx = Rw(L) +
dx dx
axwdx
0
33
Z
Wint = A
dx
0
Wext = Ru|x=L
L
qudx
Wbody =
0
In addition, = E du
dx
Then, from equilibrium: Wint = Wext + Wbody
L
E
0
du d(u)
dx =
dx dx
qudx + Ru|x=L
0
34
u(x) =
n
X
uj Nj (x)
j=1
w is chosen to be of the same form as the approximate solution (but with arbitrary
coefficients wi ),
w(x) =
n
X
wi Ni (x)
i=1
AE
0
n
X
j=1
uj
Z L X
n
n
n
X
dNj (x) X dNi (x)
ax
wi Ni (x)dx
wi
dx = R
wi Ni (L) +
dx
dx
0
i=1
i=1
i=1
Z L
dNj (x)
dNi (x)
AE
dx uj = RNi (L) +
axNi (x)dx
dx
dx
0
i = 1...n
which is a system of n equations that can be solved for the unknown coefficients uj .
Institute of Structural Engineering
35
Z
Kij uj = fi where Kij =
0
dNj (x)
dNi (x)
AE
dx
dx
dx
axNi (x)dx
Ktot
e
K11
1
K12
=
0
Ktot
1
AE
1
=
h
0
1
K12
1
2
K22 + K11
2
K12
1
2
1
0
2
K12
2
K22
0
1
1
36
37
Equilibrium Eq:
Kinematic Eq:
Constitutive Eq:
Traction B.C.:
Displacement B.C:
s + b = 0
= s u
=D
n = Ts
u = u
t
u
1
0
E
1
0
D=
1 2
0 0 1
2
zz = xz = yz = 0, zz 6= 0
1
E
D=
(1 )(1 + )
0
1
0
0
0
12
2
38
2D FE formulation: Discretization
Divide the body into finite elements connected to each other through
nodes
39
1
N2 (, ) = (1 + )(1 )
4
1
N4 (, ) = (1 )(1 + )
4
Iso-parametric Mapping
x=
y=
4
X
i=1
4
X
Ni (, )xie
Ni (, )yie
i=1
40
41
2D FE formulation: Matrices
from the Principle of Minimum Potential Energy (see slide #9)
=0Kd =f
d
where
Ke =
BT DBd,
fe =
N T Bd +
Z
eT
N T ts d
Gauss Quadrature
Z 1Z 1
I =
f (, )dd
=
1 1
Ngp
Ngp
XX
Wi Wj f (i , j )
i=1 i=1
42
Specimen
1285
1535
Damper
250
Anchorage
ETH ShakeTable
Example Case
Elevation Drawings
Example Case
Plan Drawings
Expected Behavior
RC Response in Cyclic Loading
Experimental Data
Accelerometer Measurements
Displacement Measurements
RC Response Characteristics
Strength Deterioration
Stiffness Degradation
Pinching Behavior
6. Forcedisplacement relationships observed in static cyclic tests (RFfailure of vertical reinforcement, DCdiagonal cracking,
mpression failure).
Institute of Structural Engineering
cu
E0
Compression
softening
+
o
cu
Tension
+
Figure 2.5: Typical uniaxial compressive and tensile stress-strain curve for concrete (Bangash 1989)
compression, the stress-strain curve for concrete is linearly elastic up to about 30 percent of
e maximum compressive strength. Above this point, the stress increases gradually up to the
aximum compressive strength. After it reaches the maximum compressive strength cu , the
rve descends into a softening region, and eventually crushing failure occurs at an ultimate
ain cu . In tension, the stress-strain curve for concrete is approximately linearly elastic up to
e maximum tensile strength. After this point, the concrete cracks and the strength decreases
adually to zero (Bangash 1989).
2.3.1.1
Modeling of Reinforced
Concrete
Behavior
2. DISCRETE VS
SMEARED CRACK
MODELS
2.1. The discrete crack approach
Failure Criteria
forapproach
Concrete
The discrete crack
to concrete fracture is intuitively appealing: a crack is introduced as
a geometric entity. Initially, this was implemented by letting a crack grow when the nodal force
at the node ahead of the crack tip exceeded a tensile strength criterion. Then, the node is split
The determination
of the
failure
is very
important
fornode.
theWhen
proper
into two nodes and
tip of thecriteria
crack is assumed
to propagate
to the next
the
tensile strength criterion is violated at this node, it is split and the procedure is repeated, as
simulation
of
the
degrading
behavior
of
concrete
structures.
sketched in Figure 1 [1].
discrete crack approach in its original form has several disadvantages. Cracks are forced
A. DiscreteTheCracking
to propagate along element boundaries, so that a mesh bias is introduced. Automatic remeshing
The discrete
approach
to concrete
fracture
is intuitively
appealing:
allowscrack
the mesh
bias to be reduced,
if not eliminated,
and sophisticated
computer
codes with a crack
remeshing
developed by
IngraeaInitially,
and co-workers
Nevertheless,
a computational
is introduced
as awere
geometric
entity.
this [3].
was
implemented
by letting a
diculty, namely, the continuous change in topology, is inherent in the discrete crack approach
crack grow
the nodal
force
at the
node ahead
of the crack tip exceeded a
andwhen
is to a certain
extent even
aggravated
by remeshing
procedures.
The change
in topology
was to athe
largenode
extent alleviated
the advent
meshlessand
methods,
tensile strength
criterion.
Then,
is splitbyinto
two ofnodes
the tip of
such as the element-free Galerkin method [4]. Indeed, successful analyses have been carried out
the crack using
is assumed
to
propagate
to
the
next
node.
When
the
tensile
strength
these methods, but disadvantages including diculties with robust three-dimensional
largenode,
computational
demandand
compared
nite element
the
criterion isimplementations,
violated atthethis
it is split
the with
procedure
is methods,
repeated.
somewhat ad hoc manner in which the support of a node is changed in the presence of a crack [5]
One such criterion is utilized by ANSYS accounting for both crushing & cracking.
fr
f c
fr
f c
After cracking, the elastic modulus of the concrete element is set to zero in the
direction parallel to the principal tensile stress direction.
Crushing occurs when compressive stresses exceed the compressive failure
strength.
In a concrete element, cracking occurs when the principal tensile stress in any direction
lies outside the failure surface. After cracking, the elastic modulus of the concrete
element is set to zero in the direction parallel to the principal tensile stress direction.
Crushing occurs when all principal stresses are compressive and lie outside the failure
surface; subsequently, the elastic modulus is set to zero in all directions (ANSYS 1998),
and the element effectively disappears.
During this study, it was found that if the crushing capability of the concrete is turned on,
the finite element beam models fail prematurely. Crushing of the concrete started to
develop in elements located directly under the loads. Subsequently, adjacent concrete
Bilinear
Model
Hardening
nconfined
concrete
and b)with
for reinforcing
steel
80
fy
Ep
STRESS [ksi]
60
R=20
40
R=5
20
0.002
0.004
0.006
0.008
STRAIN [in/in]
Giuffr`e-Menegotto-Pinto Model
inelastic branch.
ral elements namely; beams, columns and shear walls
storey buildings. By combining such elements one
of Structural
inked together through Institute
diaphragms
at theEngineering
floor levels Method of Finite Elements II
Stress [ksi]
40
20
10
11
finite element analysis textbooks for a more formal and complete introduction to basic concepts
if needed.
12
the element
maySolid
be thought
of as a truss element, a cable element, a link el
Reinforcing Steelapplication,
Modeling
using
Elements
13
ents - Galerkin
ght functions
trial solutions
are
for theand
simulation
of the
This element has two degrees of freedom per node, one translational
(perpendicular to the beam axis) and one rotational.
14
15
Fi
12
6L
12
6L
vi
Mi EI 6L
4L2 6L 2L2
i or FE = KE v
Fj = L3 12 6L
12
6L
vj
2
2
6L 2L 6L 4L
Mj
j
Whilst , from Lecture 8, we saw that in case P-Delta effects are taken into
account, the geometric (nonlinear) stiffness is:
36
3L 36 3L
vi
Fi
2
Mi
T
3L L2
3L 4L
i
Fj = 30L 36 3L 36 3L vj or FG = KG v
3L L2 3L 4L2
j
Mj
Therefore, the total forces acting on the beam element will be:
FT = FE + FG = [KE + KG ]v = KT v
Institute of Structural Engineering
16
17
18
19
20
21
Plasticity Model
22
Plasticity Model
Concentrated Plasticity Model
23
Plasticity Model
Distributed & Spread Plasticity Models
24
Plasticity Model
Distributed & Spread Plasticity Models
source: Hwasung Roh, Andrei M. Reinhorn, Jong Seh Lee, Power spread plasticity model for inelastic analysis of
reinforced concrete structures, Engineering Structures, Volume 39, June 2012, Pages 148-16
Institute of Structural Engineering
25
26
(t )
M (t ) Model
= M
+ (1 ) z (t )
Bouc - Wen Hysteretic
(1)
The
(t )
M (t ) = M y
+ (1 ) z (t )
where My is the yield moment; y is the yield curvature;
is the ratio of the post-yield to the initial
and
y
model
can be visualized as a linear
a nonlinear
element in parallel:
elastic stiffness and z(t) is the hysteretic componentdefined below.
(1)
where My is the yield moment; y is the yield curvature; is the ratio of the post-yield to the initial
elastic stiffness and z(t) is the hysteretic component defined below.
The relation
betweenhysteretic
generalized
moments
is differential
given by:
The nondimensional
function z(t)
is the solutionand
of the curvatures
following non-linear
equation:
(t)
.
1
dz y
1
1 + sign
(d ) | z (t ) | + z (t )
.
(1
)z(t)
(t) = M
or alternatively
where K +
z (t ) = f ( (t), z (t )) M
=K
y = A B 2 2
nB
(2)
1 + sign(d ) | z (t ) | z (t ) Figure
1 sign(d3.
1 sign(d ) Model
| z (t ) | z (t )
| z (t ) | + z (t ) Hysteretic
E curvature;
the ratio of
where MyC is
the
yield
moment;
) Bouc-Wen
is
D
is the yield
2
2
2 y
2
2
2
the
post-yield
to
the
initial
elastic
stiffness
and
z(t)
is
the
hysteretic
The nondimensional
hysteretic
function
is the
solution
theoffollowing
differential
In the above expression
A, B, C,
D & E arez(t)
constants
which
control theofshape
the hystereticnon-linear
loop
component
defined
equation:for each
direction ofas:
loading, while the exponents n , n , n & n govern the transition from the elastic
nC
nD
z (t ) =
nE
to the plastic state. Small values of ni lead to a smooth transition, however as ni increases the transition
n
in the limit (n).
.becomes sharper
1 tending to a perfectly
dz bilinear behavior
1
1 + sign(d ) | z (t ) | + z (t ) B
or alternatively
where K z = A B
f (The
(t),program
z (t )) defaults
= Kz
are:
y
d
y
2
2
M y
1
1
, b =1 and nB = nE = n
(3)
A = 1, C = D =0 & B = n , E = n where e =
nC
nE
M y+ nD
bB
eE
1 + sign(d ) | z (t ) | z (t )
1 sign(d ) | z (t ) | + z (t )
1 sign(d ) | z (t ) | z (t )
Dgradient of the hysteretic
E occurs. Theassignment
the
unloading
C,
2The parameters
2 D control
2
2loop after
2
2
of null values for both, results to unloading stiffness equal to that of the elastic branch. Also, the
model is capable
of simulating
non symmetrical
so if the
yield moment
Institute
of Structural
Engineering yielding,
Method
ofpositive
Finite Elements
II is regarded
(2)
27
1
1
dM
dz
1
= M y + (1 ) = M y + (1 ) K z = EI 0 + (1 ) K z
d
d
y
y
y
(4)
28
Modeling of Degradation
Stiffness Degradation
Strength Deterioration
29
The parameter S depends on the damage of the section which is quantified by the Damage Index DI:
Modeling
of Degradation
S = 1 S d DI where DI =
Strength Deterioration
max 1
c 1
S
dE
1 p1 diss
4 E mon
Sp2
(7)
In the above expression Sd, Sp1, Sp2 are constants controlling the amount of strength deterioration; c is
the maximum plasticity that can be reached, c = u / y ; dEdiss is the energy dissipated before
unloading occurs and finally Emon is the amount of energy absorbed during a monotonic loading until
failure as shown in Figure 4.
30
Pinching
31
g (t)
MX(t)
+ CX(t)
+ KX(t) = MU
The Newmark Constant acceleration method outlined in Lecture 8 can
be used for the direct integration of the above equation.
(You can neglect the effect of damping for this project)
In order to achieve equilibrium within each time step, it is necessary to
implement a Newton - Raphson iterative scheme as outlined in Lecture 3.
32
Eigenvalue Problems
Eigenvalue Problems
Generalized Eigenvalue Problem
Ki = i Mi
where
K
Stiffness matrix
Eigenvector(mode shape)
*This section is based on Prof. H. Waismans notes of the FEM II course - CEEM Department, Columbia University
Vibration Problems
Consider the following 1D physical problems, governed by the
Wave Equation
c2
2y
2y
= 2
2
x
t
Vibration Problems
General Wave Equation (Hyperbolic Equation)
c2
2y
2y
=
2x
2t
F 00
G00
=
= = constant
F
G
G00 + G = 0 =2
y(x, t) = (Asint + Bcost)(Csin x + Dcos x)
c F 00 + F = 0
c
c
2
u
(constitutive relation)
x
u ( x, t )
u
2u
EA
= A 2
x
x
t
u(l, t)
=0
x
u(l)
= 0 cos l = 0
x
c
cos l = 0
c
3 5
(1)
l = , , , ..., n
c
2 2 2
2
n = 1, 2, ...
n = 1, 2, ...
Ck2 sin2
weshapes
obtainare
thenormalized
following by
orthonormal
TheThus,
modes
requiring
r
n (x) =
k
x dx
c
set
h
r
xi
sin (2n 1)
Al
2 l
The generaln=1
solution is given by
Institute of Structural Engineering
n
x
c
Method of Finite Elements II
Longitudinal
vibrationvibration
of rods
Longitudinal
of rods-5
The corresponding Galerkin formulation (with standard shape
Galerkin formulation
(with standard shape functions):
functions)
is
10
orthogonality condition
11
Free
vibrations
of thin beams
Free
vibrations
of thin beams-1
Consider the Euler-Bernoulli beam model
Clamped-Free
12
13
FreeFree
vibrations
of thin beams of
vibrations
thin beams-2
Stiffness matrix:
14
Buckling Analaysis
Linear Buckling Analysis:
Linear buckling analysis can estimate the maximum load that can be
supported prior to structural instability or collapse. This method
corresponds to the textbook approach to elastic buckling analysis.
Nonlinear Buckling Analysis:
Imperfections and nonlinearities prevent most real-world structures
from achieving their theoretical elastic buckling strength. Nonlinear
buckling analysis provides a detailed buckling assessment and can
include geometric, material and boundary effects. This usually
involves a static structural analysis with large deflection effects
turned on. (large displacement approach Lectures 4-6)
15
Buckling Analaysis
Nonlinear Buckling Analysis:
Reminder, from Lecture 3, Standard Newton-Raphson methods perform
poorly for the case of buckling problems.
The Arc Length method can overcome these issues.
16
buckling strength. Thus, linear buckling analysis often yields quick but non-conservative
results.
Buckling
Analaysis
Governing Equation for Elastic Buckling
Here
we will deal with Elastic (linear) Buckling - also known as
Eigenvalue buckling
Consider a
a buckled
simply-supported
column of
length Lof
under
an external
axial compression
Consider
buckled
simply-supported
column
length
L under
an external
force F, as shown in the left schematic below. The transverse displacement of the buckled
axial
compression
column
is representedforce
by w. F , as shown in the left schematic below.
The right schematic shows the forces and moments acting on a cross-section in the buckled
The
rightMoment
schematic
shows
thelower
forces
acting
oninternal
a bending
column.
equilibrium
on the
free and
body moments
yields a solution
for the
moment M (u has
in place
of what isMoment
noted by w equilibrium
in the figure) on the lower free
cross-section
in been
the used
buckled
column.
body yields a solution for the internal
moment M
Fu Mbending
=0
Institute of Structural Engineering
17
Buckling Analysis
Equilibrium Equation
Fu M = 0
Recall the relationship between the moment M and the transverse
displacement w for an Euler-Bernoulli beam
M = EI
d2 u
dx2
d2 u
=0
dx2
18
Buckling Analaysis
Ultimately the buckling equation can be written as (Pcr being the critical value for load F):
19
Buckling Analaysis
In this consideration,
an important
parameter
many
modes
Institute
of Structural
Engineeringis to decide
Methodhow
of Finite
Elements
II you would like to include 20
Review
Previous Lectures Overview
1
Stiffness matrix (n n)
Mass matrix (or equivalent) (n n)
Eigenvector - mode shape (n 1)
Eigenvalue - natural frequencies (i2 ) or critical loads
M-orthonormality
K-orthogonality
where
nmodes << n
Solution Methods
1
Transformation Methods
i = 1, ..., n
R() =
T K
T M
scalar quantity
and (
xk+1 ) 1
as k
10
and (
xk+1 ) n
as k
11
i = 1, 2, ..., n
12
13
x
Tk+1 yk
x
Tk+1 y
k+1
14
and (
xk+1 ) i
as k
15
16
m
X
i i
(1)
i=1
Ti Mj = ij
i = 1, ..., m
17
Transformation Methods
The Transformation Methods comprise a group of eigensystem
solution procedures that employ the basic properties of the
eigenvectors for matrix ,
T K = 2
T M = I
18
Transformation Methods
Jacobi Method
and then
19
Transformation Methods
20
Transformation Methods
Jacobi
Jacobi Method
Algorithm
Basic step
1. Choose an index pair i,k
2. Select (c,s) for the rotation such that the off diag. terms are
zeroed. Note that
3. Overwrite A with
note that the only changes are in rows i,k
4. Choice of (c,s):
21
Transformation Methods
Example: We wish
to find the eigenvalues
of the matrix using
Jacobi method
22
Solution
Jacobi
Method
term:(1,3)
23
Jacobi Method
24
Specimen
1285
1535
Damper
250
Anchorage
ETH ShakeTable
AVAILABLE DATA
Accelerometer Measurements
Displacement Measurements
OBJECTIVE
The aim is to simulate the Top
Displacement - Base Shear Force
Hysteretic Loop
Initialization
Define
Geometry
Number of Finite Elements
Connectivity
cu
Compression
softening
+
o
cu
Tension
+
Figure 2.5: Typical uniaxial compressive and tensile stress-strain curve for concrete (Bangash 1989)
aximum compressive strength. Above this point, the stress increases gradually up to the
mum compressive strength. After it reaches the maximum compressive strength cu , the
descends into a softening region, and eventually crushing failure occurs at an ultimate
Institute
of Structural
Engineering
Method
cu . In tension, the stress-strain curve
for concrete
is approximately
linearly elastic
up to of Finite Elements II
Bilinear
Model
Hardening
nconfined
concrete
and b)with
for reinforcing
steel
ents - Galerkin
Using the
beam
element
ght functions
and trial
solutions
are
model the
concrete
eight to
functions
andreinforced
trial solutions
column behavior
This element has two degrees of freedom per node, one translational
(perpendicular to the beam axis) and one rotational.
You may ignore the effects of Geometric Nonlinearity - P- Effect during
the analysis.
10
g (t)
MX(t)
+ KX(t) = MU
The Newmark Constant acceleration method ( = 0.5, = 0.25)
outlined in Lecture 8 can be used for the direct integration of the above
equation.
You can neglect the effect of damping for this project (C = 0)
11
12
13
14
t) = M
+ 1 z (t )
y
(1)
Step where
9 Bouc
- Wen Hysteretic Model
M is the yield moment; is the yield curvature; is the ratio of the post-yield to the initial
y
2
2 1,2.
i =
previous zinternal
moment
(Mdi ), for
each end
section
(2)
1 + sign(d curvature,
) | z (t ) | z (t )
1 sign(d ) |internal
z (t ) | + z (t ) element
1 sign(d ) force
| z (t ) | z (t(moment,
)
Output current
current
shear),
C
2
2
2
2
2
2
current bending stiffness
(EIi )
nB
nC
nD
nE
In the above expression A, B, C, D & E are constants which control the shape of the hysteretic loop
for each direction of loading, while the exponents nB, nC, nD & nE govern the transition from the elastic
nB
nE
y
+
y
The parameters C, D control the gradient of the hysteretic loop after unloading occurs. The assignment
of null values
for both,
results to unloading
stiffness equal
to that
of theElements
elastic branch.
Also, the
Institute
of Structural
Engineering
Method
of Finite
II
15
Pinching
16
17
Special Topics
The standard finite element method has been used with great success
in many fields with both academic and industrial applications. It is
however not without limitations. Due to mesh-based interpolation,
distorted or low quality meshes lead to higher errors, necessitate
remeshing, a time and human labor consuming task, which is not
guaranteed to be feasible in finite time for complex three-dimensional
geometries. Additionally, they are not well suited to treat problems
with discontinuities that do not align with element edges.
Alternative/Extended Approaches
Meshless Methods
Multigrid Methods
Extended Finite Element methods
Institute of Structural Engineering
Special Topics
Meshless Methods
Traditional simulation algorithms relied on a grid or a mesh, Meshless
methods in contrast use the geometry of the simulated object directly for
calculations. Meshless (or Meshfree) methods (MMs) were born with the
objective of eliminating part of the difficulties associated with reliance on a
mesh to construct the approximation.
Special Topics
Meshless Methods
Meshless approximations for a scalar function u in terms of the
material (Lagrangian) coordinates can be written as
u(x, t) =
Ni (x)ui (t)
iS
where Ni : R are the shape functions and the ui are the nodal
values at particle i located at position xi and S is the set of nodes i
for which Ni (x) 6= 0. In contrast to FEM, the shape functions are
only approximants and not interpolants, since ui 6= u(xi ).
Therefore, special techniques are needed to treat displacement
boundary conditions.
Institute of Structural Engineering
Special Topics
Meshless Methods
Disadvantages
Advantages
problems with moving
discontinuities such as crack
propagation and phase
transformation can be treated
with ease
higher-order continuous
shape functions
non-local interpolation
character
no mesh alignment sensitivity.
Institute of Structural Engineering
Special Topics
Multigrid Methods
Multigrid (MG) methods in numerical analysis are a group of
algorithms for solving differential equations using a hierarchy of
discretizations. They are a class of techniques very useful in
problems exhibiting multiple scales of behavior. They are fast linear
iterative solvers based on the multilevel or multi-scale paradigm.
Special Topics
Multigrid Methods
Special Topics
Multigrid Methods
There are many variations of multigrid algorithms, but the common
features are that a hierarchy of discretizations (grids) is considered.
The important steps are:
Smoothing Perform some steps of a basic method in order to
smooth out the error.
Restriction Restrict the current state of the problem to a
subset of the grid points, the so-called coarse grid, and solve
the resulting projected problem.
Interpolation or Prolongation Interpolate the coarse grid
solution back to the original grid, and perform a number of
steps of the basic method again.
Special Topics
Multigrid Methods - Adaptive Mesh
Special Topics
Multigrid Methods
Advantages
MG can be applied in combination with any of the common
discretization techniques.
Multigrid is among the fastest solution techniques known today.
In contrast to other methods, multigrid is general in that it can
treat arbitrary regions and boundary conditions.
Multigrid does not depend on the separability of the equations
or other special properties of the equation.
MG is also directly applicable to more complicated,
non-symmetric and nonlinear systems of equations.
Can be very easily parallelized.
10
Special Topics
The Extended Finite Element Method (XFEM)
The Extended Finite Element Method is a numerical method that
enables a local enrichment of approximation spaces. The enrichment
is realized through the partition of unity concept.
The method is useful for the approximation of solutions with
pronounced non-smooth characteristics in small parts of the
computational domain, for example near discontinuities and
singularities. In these cases, standard numerical methods such as the
FEM often exhibit poor accuracy.
The XFEM offers significant advantages by enabling optimal
convergence rates for these applications.
11
Special Topics
XFEM - Motivation
Modeling of discontinuities, ex. structural flaws (cracks, holes)
12
Special Topics
XFEM - Motivation
Modeling of complicated crack geometries (ex. non planar cracks)
13
Special Topics
XFEM vs FEM
- XFEM locally enrich the standard FE approximation with local
partitions of unity enrichment functions
- This allows for the separation of geometry from the mesh.
Standard FEM
X-FEM
14
Special Topics
XFEM Scheme
The conventional shape function space is enriched with a set of
enrichment functions H(x) and Fj (x)
nJ
nT
4
n
X
X
X
X
NI (x)
NI (x)uI +
NI (x)H(x)aI +
Fj (x)bjI
uh (x) =
I=1
I=1
I=1
j=1
Tip Enrichment
Jump Enrichment
(
1
H(X) =
0
Institute of Structural Engineering
above +
c
bellow
c
Method of Finite Elements II
15
Special Topics
XFEM Scheme - Tip and Jump Enrichments
16
Special Topics
XFEM Applications - Composite Materials
G XFEM = 4.762
G ABAQUS = 4.703
Gexp eriment = 4.784
[lb in/in^2]
3
2.5
2
1.5
1
0.5
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
17
Special Topics
XFEM Applications - Crack Growth
Load P
6.25
Unit: mm
Simplification
35.0
15.63
BC 1
Fix U,V
7.813
BC 2
Fix U
6.25
37.5
100
18
Special Topics
19
Special Topics
XFEM Applications - Crack Growth
20
21
22
23
24
25
generally
irrelevant
CONTINUIFICATION
SOLUTION
Physical
system
FEM
Discrete
model
IDEALIZATION &
DISCRETIZATION
Discrete
solution
VERIFICATION
solution error
simulation error= modeling + solution error
VALIDATION
Institute of Structural Engineering
26
27
Complexphysicalproblem(steelbracket)modelled
p
p y
p
(
)
byasimplemathematicalmodel
Institute of Structural Engineering
28
29
30
31
Implementation of FE
Calculation of system matrices K, M, C and R whichever
applicable (nodal point and element information are read;
element stiffness matrices, mass and damping matrices and
equivalent loads are calculated; structure matrices are
assembled)
Solution of equilibrium equations
Evaluation of element stresses
32
33
34
35
ABAQUS Features
Wide material modeling capability
Ability to be customized
A good collection of multiphysics capabilities, such as coupled
acoustic - structural piezoelectric etc.
Attractive for simulations where multiple fields need to be
coupled
36
37
38
Method
of Finite
II Figure 17, and Figure 18
examined
next. Elements
Figure 16,
39
MU(t)
+ CU(t)
+ KU(t) = R(t)
Eigenvalue problems:
No unique solution to the response of the system
Institute of Structural Engineering
Introduction
to Nonlinear
analysis analysis
Introduction
to non-linear
Classification
of of
Nonlinear
Classification
non-linear analyses
analyses
Type of analysis
Description
Materially-nonlinear Infinitesimal
only
displacements and
strains; stress train
relation is nonlinear
Large
Displacements and
displacements, large rotations of fibers
rotations but small
are large; but fiber
strains
extensions and
angle changes
between fibers are
small; stress strain
relationship may be
linear or non-linear
Large
Displacements and
displacements, large rotations of fibers
rotations and large
are large; fiber
strains
extensions and
angle changes
between fibers may
also be large; stress
strain relationship
may be linear or
non-linear
Method of Finite Elements II
Typical
formulation used
Materiallynonlinear-only
(MNO)
Cauchy stress,
Almansi strain
10
Linear
Elastic to non-linear analysis
Introduction
P
2
P
2
= P/ A
= / E
=L
E
1
< 0.04
11
Material
Nonlinearity
only
Introduction
to non-linear
analysis
P
2
L
P/ A
Y
= P/ A
Y Y
=
+
E
P
2
ET
ET
E
1
< 0.04
displacements, but
relation)
Infinitesimal Displacements,
butnonlinear
Nonlinearstress-strain
Stress Strain
relation
Method of Finite Elements II
12
< 0.04
= L
13
Introduction to Nonlinear
analysisanalysis
Introduction
to non-linear
Large
displacements,
large rotations and
Institute of Structural Engineering
Method of Finite Elements II
14
Introduction
Nonlinear
analysis
Swissto
Federal
Institute of Technology
Introduction to non-linear analysis
P
2
15
Area = 1cm
u
t
Section a
Section b
ET
Lb = 5cm
La = 10cm
Y = 0.002
4
3
E = 107 N / cm 2
ET = 105 N / cm 2
Y : yield stress
Y : yield strain
16
E = 107 N / cm 2
Section a
ET = 105 N / cm 2
Section b
ET
Y : yield stress
Y : yield strain
Lb = 5cm
La = 10cm
= 0.002
t
t
u t
u
, b =
La
Lb
a =
R + b A = a A
4
3
2
(elastic region)
= Y +
ET
(plastic region)
(unloading)
E
17
18
19
R t F = 0
R =t RB +t RS +t RC
XZ
t (m)T t (m) t
t
B
dV(m)
F=
m
tV
20
21
R
U
22
Bisection Method
23
f(xk )
f 0 (xk )
k1
xk+1 = xk f(xk ) f(xkk)f(x
k1 )
Convergence:
superlinear order
24
Incremental Analysis
The basic approach in incremental analysis is:
Find a state of equilibrium between externally applied loads and
element nodal forces
t+t
Assuming that
t+t R
R t+t F = 0
R =t F + F
25
Incremental Analysis
Newton-Raphson Method
Assume the tangent stiffness matrix:
t F
t U
We may now substitute the tangent stiffness matrix into the
equilibrium relation
t
K=
KU =t+t R t F
U =t U + U
26
Incremental Analysis
We may use the Newton-Raphson iteration scheme to find the
equilibrium within each load increment
t+t
U(0) =t U;
t+t
K(0) =t K;
t+t (0)
=t F
27
The first two analysis types, although significantly simplified, can lead to valuable conclusions
concerning the behavior of the structure and the possible collapse mechanism. The applied procedure
Modified
(Raphson)Method
can be described Newton
in brief as follows.
In the case of 2-D analysis the structure is assumed to consist of a
finite number of nodes interconnected by a finite number of elements. The types of elements have
been
described
in section 3.to
In calculate
the case of the
3-D tangent
analysis the
structure matrix.
is assumed
consist of the
It may
be expensive
stiffness
Intothe
aforementioned
2-D frames, assuming a rigid
diaphragm
assemblage
theircalculated
horizontal dofs
per floor
Modified Newton-Raphson
iteration
scheme
it is of
only
in the
slab. Loads may be applied at the nodes or along the elements. In both cases though, they are
beginning
of each
transformed
to nodal
loads.new load step
In the
iteration
schemes
the secant
stiffness
matrix
After
the quasi-Newton
formation of the stiffness
matrix
the equilibrium
equations
are solved
by is
anused
efficient
algorithm
based
on
the
Gaussian
elimination
method.
The
structure
stiffness
is
stored
in
a
banded
form
instead of the tangent matrix
Institute of Structural Engineering
28
( t K a + t K b ) u ( i ) =
t +t
R ( t +t Fa ( i 1) t +t Fb ( i 1) )
t +t
u ( i ) = t +t u ( i 1) + u ( i )
with initial conditions
t +t
t +t
u (0) = t u;
Ka =
CA
;
La
Fa (0) = t Fa
Kb =
t +t
Fb (0) = t Fb
CA
Lb
= E if section is elastic
C
= ET if section is plastic
29
2 104
= 6.6667 103
1 1
107 ( + )
10 5
Iteration 1: (i = 1)
u (1) =
1 (1)
1 (1)
a
1 (1)
b
1
1 (1)
u
= 6.6667 104 < Y (elastic section!)
La
1 (1)
u
= 1.3333 103 < Y (elastic section!)
Lb
( K a + K b ) u
0
(2)
Fb(1) = 1.3333 10 4
= R Fa(1) 1Fb(1) = 0
1
30
Load step 2: t = 2 :
( 1K a + 1K b ) u (1) = 2 R 2 Fa(0) 2 Fb(0)
2
1
Fa(1) = 1.3333 10 4 ;
31
32
R t F = 0
R =t RB +t RS +t RC
XZ
t (m)T t (m) t
t
B
dV(m)
F=
m
tV
R
U
f (xk )
f 0 (xk )
Secant Method
T(Uk ) =
Incremental Analysis
The basic approach in incremental analysis is:
Find a state of equilibrium between externally applied loads and
element nodal forces between successive time steps t
t+t
Assuming that
t+t R
R t+t F = 0
R = tF + F
Incremental Analysis
Newton-Raphson Method
Assume the tangent stiffness matrix:
t F
t U
We may now substitute the tangent stiffness matrix into the
equilibrium relation
t
K=
KU = t+t R t F
U = tU + U
Incremental Analysis
We may use the Newton-Raphson iteration scheme to find the
equilibrium within each load increment
t+t
(i1)
t+t
(i1)
U(i) = t+t U
+ U(i)
U(0) = t U;
t+t
K(0) = t K;
t+t (0)
= tF
10
R
Standard NR
Modified NR
t+Dt
t+Dt
R
DU
t
DU
DU
t+Dt
t+Dt
t+Dt
t+Dt
11
Special Considerations
12
Special Considerations
The Arc-Length Method for Nonlinear Post-Buckling
Also called Modified Riks Method.
Control the size of the load step using a
parameter .
Solve for both and U in each Newton
iteration.
Assume F = independent of geometry. Then,
can be thought of as a normalized load
parameter and the residual is given by
r(U, ) = K(U)U F
The load increment is computed using
p
= s 2 Un2
where the reference arc length is
s02 =
Institute of Structural Engineering
F
nloadstep
13
14
2 104
= 6.6667 103
1 1
107 ( + )
10 5
Iteration 1: (i = 1)
u (1) =
1 (1)
1 (1)
a
1 (1)
b
1
1 (1)
u
= 6.6667 104 < Y (elastic section!)
La
1 (1)
u
= 1.3333 103 < Y (elastic section!)
Lb
( K a + K b ) u
0
(2)
Fb(1) = 1.3333 10 4
= R Fa(1) 1Fb(1) = 0
1
15
Load step 2: t = 2 :
( 1K a + 1K b ) u (1) = 2 R 2 Fa(0) 2 Fb(0)
2
1
Fa(1) = 1.3333 10 4 ;
16
17
18
x
(1 + 2t + t 2 )
u
= 2X(1 + t)
t
1x(1 + t)
(1 + 2t + t 2 )
19
Lagrangian Formulation
In solids we use the Lagrangian approach as the solution process moves from time
t to t + t iteratively following elements of the body in their motion.
20
x
(1 + 2t + t2 )
u
= 2X(1 + t)
t
2x(1 + t)
(1 + 2t + t2 )
Lagrangian Formulation
In the further we introduce an appropriate notation:
t
xi = 0 xi + t ui , i =1, 2, 3
t+t
xi = 0 xi + t+t ui
t+t
where the left subscript indicates the reference configuration and the left
superscript indicates at which configuration the quantity occurs.
Note if those quantities are the same the left subscript maybe omitted e.g:
t+t
t+t
ij
0 ui,j =
t+t
0 ui
0
xj
Method of Finite Elements II
Definition
The deformation gradient maps d0 x onto dt x through the following relation
dt x =
Institute of Structural Engineering
t
0
0 Xd x
t
X
=
t x1
0 x1
t x2
0 x1
t x3
0 x1
t x1
0 x2
t x2
0 x2
t x3
0 x2
t x1
0 x3
t x2
0 x3
t x3
0 x3
t
0X
= (0 t xT )T ,
where
t
0X
0 =
0 x1
0 x2
0 x3
and
t T
x =
x1
x2
x3
= ( 0t X)1
6=
t
0
t T t
0 X 0 X:
B=
t T
t
0X 0X :
t
0 U:
t
0 R:
t
t
0R 0U
10
Page 22
Th deformation
The
d f
ti
gradient,
di t strain
t i and
d stress
t
tensors
t
X = RU
x1
WeDecomposition
continue by rewriting
(Ex 6.8) the
deformation
gradient
It is instructive to consider the
deformation in two steps
2L
Stretching
2 0
Method
of Finite Elements II
U=
0 1 0
0 0 1
X = RU Decomposition
2 0 0
Stretching U = 0 1 0
consider the
It is simpler
to
0 0 1in
two steps
deformation
0
x1
0 1 0
Rotation
R = 1 0 0
Rotation
0 0 1
cos
R=
sin
sin
cos
0
0
= 1
1
0
1
0
0
11
U = 0 h 0 R = sin cos 0
deformation
d f
ti gradient,
di
t strain
t i and
t 0 1tensors
t
H
0d stress
0 0 1
which yields
ample beam element
x2 , t x2
h
l
h
L cos H sin 0
l
h
RU X =
sin
cos
0
L
H
0
0
1
Page 2
H
0
x1 , t x1
L
Institute of Structural Engineering
12
13
14
X uk uk
ui
uj
+ 0 +
0
xj
xi
0 xi 0 xj
k=1
Almansi strains:
1
ij =
2
X uk uk
ui
uj
+ t +
t
xj
xi
t xi t xj
k=1
15
16
0 t 0 T
X tX
t t
0
= det(t0 X)
17
Definition-Reference Configuration
Configuration to which stepping computations in an incremental solution
process are referred
Definition-Target Configuration
Equilibrium configuration accepted after completing the an increment step
18
19
20
t+t
t+t V
21
(2)
22
ij =0 eij +0 ij
(3)
ui,j +0 uj,i +
3
X
!
t
0
k=1
1X
0 ij =
0 uk,i 0 uk,j
2
k=1
(4)
23
Noting that the variation 0t+t ij at configuration time t+t is only
dependent on the variation of the increment, hence
t+t0 ij = 0 ij
and plugging eqns (3),(4) into eqn(2) we obtain the Equation of
Motion with Incremental Decompositions
Z
Z
Z
t
0
t
0
t+t
0
R
0 Sij 0 ij d V +
0 Sij 0 eij d V
0 Sij 0 ij d V =
0V
0V
0V
24
Remarks
R
Term 0 V t0 Sij 0 eij d0 V is known, so it can be moved to the
right hand side of the equation of motion.
R
Term 0 V t0 Sij 0 ij d0 V is linear with respect to the
incremental displacements ui .
R
Term 0 V 0 Sij 0 ij d0 V is highly nonlinear but we can use
Taylor expansion to approximate it
25
0
0V
where 0 Cijrs
Sij 0 ij d V =
0
0V
t0 Sij
= t
0 rs
26
Finally, the Linearized Equation of Motion for the (TL) formulation is:
Z
0
0 Cijrs ers 0 eij d V +
0V
t
0
0V
Sij 0 ij d0 V = t+t R
t
0
0V
Sij 0 eij d0 V
t
t Cijrs ers t eij d V +
ij t ij dt V = t+t R
tV
ij t eij dt V
tV
27
28
In practice, it is often sufficient to account for only material non-linearity. In this case
the TL and the UL formulations become identical.
Institute of Structural Engineering
29
Element Matrices
The general matrix equations vector depend on the assumed type of
analysis and the approach
A) Material nonlinearity
Static Analysis
t
KU = t+t R t F
30
Element Matrices
B) TL Formulation
Static Analysis
(t0 KL +t0 KN L )U = t+t R t0 F
31
Element Matrices
C) UL Formulation
Static Analysis
(tt KL +tt KN L )U = t+t R tt F
32
Element Matrices
=
t
0
t
t
K, KL , KL =
t
0
t
t
KN L , KN L =
t+t
t
0
F, F, F
t
t
33
Element Matrices
34
Element Matrices
where the following notation has been used
HS , H
0 S
f , 0f B
BN L , tt BN L
C, t C
S, t S
t
0
35
Structural Elements
Truss and Cable Elements
A Truss Element is a structural element capable of transmitting
stresses only in the direction normal to the cross-sectional area
36
x1 (r) =
n
X
Nk xk1
0
x2 (r) =
and
x1 (r) =
Nk xk2
0
x3 (r) =
Nk t xk1
x2 (r) =
k=1
n
X
Nk t xk2
n
X
Nk 0 xk3
k=1
k=1
k=1
n
X
n
X
x3 (r) =
k=1
n
X
Nk t xk3
k=1
37
Shape Functions
n = 2 nodes at r1 = 1, r2 = 1
1
1
(1 r), N2a = (1 + r)
2
2
n = 3 nodes at r1 = 1, r2 = 1, r3 = 0
1
1
N1b = N1a (1 r2 ), N2b = N2a (1 r2 ), N3b = (1 r2 )
2
2
1
1
n = 4 nodes at r1 = 1, r2 = 1, r3 = , r4 =
3
3
1
1
(9r3 + r2 + 9r 1), N2c = N2b +
(9r3 + r2 9r 1),
N1c = N1b +
16
16
1
1
N3c = N3b +
(27r3 + 7r2 27r 7), N4c =
(27r3 9r2 + 27r + 9)
16
16
N1a =
38
Pn
t k
k=1 Nk ui
i=1,2,3
Element Matrices
Since the only stress is the normal stress we consider only the
corresponding longitudinal strain along s: t0 11 .
From the TL Formulation we obtain:
t
0
11 =
3
X
d0 xi dt ui
i=1
d0 s d0 s
1 dt ui dt ui
2 d0 s d0 s
Incremental Decomposition
11 =
e
3
X
d0 xi dui
d0 s d0 s
i=1
dt ui dui
d0 s d0 s
11 =
0
1 X dui dui
2
d0 s d0 s
i=1
39
t
0
dr
and 0 s(r) is the arc length (coordinate) at point
d0 s
(x1 (r), x2 (r), x3 (r)) given by
where 0 J 1 =
s(r) =
n
X
Nk 0 sk
k=1
C1111 =
t0 S
11
t0 11
Method of Finite Elements II
40
41
0 eij
0 ij
1
=
2
1
=
2
0 ui,j
+ 0 uj,i +
3
X
!
(t0 uk,i 0 uk,j
t
0 uk,i 0 uk,j )
k=1
3
X
!
0 uk,i 0 uk,j
k=1
Since we are interested in 0 e11 , 0 11 , and since the displacements are restricted in
the 0 x1 , 0 x2 plane the above expressions become
0 e11
u1
t u1 u1
t u2 u2
= 0 + 0
+ 0
0
x1
x1 x1
x1 0 x1
0 11
1
=
2
"
u1
0 x1
2
+
u2
0 x1
2 #
(5)
42
t 1
u2
= 0,
= 0,
t 2
u1
= (0 L + L)cos 0 L
t 2
u2
= (0 L + L)sin
The displacement at a point within the element (at a distance from the center)
is given by
ui =
2
X
Nk t uki
with N1 =
k=1
Also, 0 J =
1
1
(1 ), N2 = (1 + )
2
2
0
0 x2
L
0 x1
=
=
. Then we obtain
N1 () t 1 N2 () t 2
t u1
=
u1 +
u1
0 x1
0 x1
0 x1
h
i 1
(0 L + L)cos
t u1
1
= 0 + (0 L + L)cos 0 L 0 J =
0L
0
x1
0
t
( L + L)sin
u2
Similarly,
=
0L
0 x1
Institute of Structural Engineering
(6)
(7)
(8)
43
2
X
Nk uki
with N1 =
k=1
which yields:
1
1
(1 ), N2 = (1 + )
2
2
u1
u2
1
1
= 0 (u21 u11 ), 0
= 0 (u22 u12 )
L
L
0 x1
x1
1
0 e11 = 0
0L
L
1
u1
#
0
u12
( L + L)sin
0
1
0
1
+
2
0L
u1
u22
1
u1
u12
(0 L + L)
cos sin cos sin
0 e11 =
u2
(0 L)2
1
u22
Institute of Structural Engineering
(9)
matrix equivalent
44
t
0 BL
(0 L + L)
cos
(0 L)2
sin
cos
sin
= (0 J
1 2 0 T
t T T
) ( x NT
, N, + u N, N, )
Next, the linear part of the stiffness matrix is then obtained as:
t
0 KL
Z
=
0V
T
t
t
0
0 BL 0 C0 BL d V
t0 S11
. If we use that the original ratio is equal to the
t0 11
elasticity modulus, we have 0 C = E. Also, 0 V = 0 A0 L. Then,
where for the truss element 0 C =
t
0 KL
= 0A0 C
(0 L
L)2
+
(0 L)3
cos2
cossin
sin2
cos2
sincos
cos2
Symm
Institute of Structural Engineering
cossin
2
sin
sincos
2
sin
45
= R
0
0
RT ,
R=
sin
cos
cos
sin
Then, from Lecture 4 we know that the Piola-Kirchhoff stress is given as:
t
0S
0
t
0
t 0 T
tX
tX
or
0
0
RT =
t
T
t
X t0 S t0 X
0 0
(10)
where the deformation gradient, t0 X, can be obtained as the product of a rotational and
a stretch component as t0 X = RU. For this example the stretch matrix is obviously
(elongation along x):
U=
0L
+ L
0L
0
0L
0 U1 =
1
0L
+ L
0
0
1
46
t
t
t
S 0
0
t
=
= 0 U 0 S UT 0
0
0
0
0
0
0
U1
0
0
t
RT =
t
t
0
0
0
RU t0 S UT RT
(U1 )T
Since mass=const
0
t
(0
0L
tP
L + L
)2 t
0 0
L0 A = t 0 L + Lt A t0 S11 =
0L
0L
tP
+ L
0A
Note how the components of t0 S do not depend on rotation, hence the tensor retains only
the S11 one component. Then, the nonlinear part of the stiffness matrix is derived as:
Z
T
t
t
t
0
K
=
N
L
0
0 BN L 0 S0 BN L d V
0V
where t0 BN L = (0 J 1 ) N, =
Institute of Structural Engineering
1
0
0
1
1
0
0
1
47
Finally, t0 KN L
1
0
= 0
L + L 1
0
tP
0
1
0
1
1
0
1
0
0
1
0
1
and, t0 KN = t0 KL + t0 KN L
and the force vector is obtained as (see relevant table for (TL) formulation):
t
0F
Z
=
0V
Tt
t
0
0 BL 0 S11 d V
(0 L + L)
(0 L)2
cos
0L
tP
sin
0
cos 0 L + L 0 A V
sin
cos
sin
t
t
0F = P
cos
sin
Institute of Structural Engineering
48
(1)
0V
(2)
ij =0 eij +0 ij
(3)
ui,j +0 uj,i +
3
X
!
t
0
k=1
1X
0 ij =
0 uk,i 0 uk,j
2
k=1
(4)
3
Noting that the variation 0t+t ij at configuration time t+t is only
dependent on the variation of the increment, hence
t+t0 ij = 0 ij
and plugging eqns (3),(4) into eqn(2) we obtain the Equation of
Motion with Incremental Decompositions
Z
Z
Z
t
0
t
0
t+t
0
R
0 Sij 0 ij d V +
0 Sij 0 eij d V
0 Sij 0 ij d V =
0V
0V
0V
Remarks
R
Term 0 V t0 Sij 0 eij d0 V is known, so it can be moved to the
right hand side of the equation of motion.
R
Term 0 V t0 Sij 0 ij d0 V is linear with respect to the
incremental displacements ui .
R
Term 0 V 0 Sij 0 ij d0 V is highly nonlinear but we can use
Taylor expansion to approximate it
0
0V
where 0 Cijrs
Sij 0 ij d V =
0
0V
t0 Sij
= t
0 rs
Finally, the Linearized Equation of Motion for the (TL) formulation is:
Z
0
0 Cijrs ers 0 eij d V +
0V
t
0
0V
Sij 0 ij d0 V = t+t R
t
0
0V
Sij 0 eij d0 V
t
t Cijrs ers t eij d V +
ij t ij dt V = t+t R
tV
ij t eij dt V
tV
Element Matrices
The general matrix equations vector depend on the assumed type of
analysis and the approach
A) Material nonlinearity
Static Analysis
t
KU = t+t R t F
Element Matrices
B) TL Formulation
Static Analysis
(t0 KL +t0 KN L )U = t+t R t0 F
Element Matrices
C) UL Formulation
Static Analysis
(tt KL +tt KN L )U = t+t R tt F
10
Element Matrices
=
t
0
t
t
K, KL , KL =
t
0
t
t
KN L , KN L =
t+t
t
0
F, F, F
t
t
11
Element Matrices
12
Element Matrices
where the following notation has been used
HS , H
0 S
f , 0f B
BN L , tt BN L
C, t C
S, t S
t
0
13
Structural Elements
Truss and Cable Elements
A Truss Element is a structural element capable of transmitting
stresses only in the direction normal to the cross-sectional area
14
x1 (r) =
n
X
Nk 0 xk1
x2 (r) =
k=1
and
x1 (r) =
n
X
n
X
Nk 0 xk2
x3 (r) =
k=1
Nk t xk1
x2 (r) =
k=1
n
X
Nk t xk2
n
X
Nk 0 xk3
k=1
t
x3 (r) =
k=1
n
X
Nk t xk3
k=1
Shape Functions
n = 2 nodes at r1 = 1, r2 = 1
1
1
(1 r), N2a = (1 + r)
2
2
n = 3 nodes at r1 = 1, r2 = 1, r3 = 0
1
1
N1b = N1a (1 r2 ), N2b = N2a (1 r2 ), N3b = (1 r2 )
2
2
1
1
n = 4 nodes at r1 = 1, r2 = 1, r3 = , r4 =
3
3
1
1
N1c = N1b +
(9r3 + r2 + 9r 1), N2c = N2b +
(9r3 + r2 9r 1),
16
16
1
1
N3c = N3b +
(27r3 + 7r2 27r 7), N4c =
(27r3 9r2 + 27r + 9)
16
16
N1a =
15
Pn
t k
k=1 Nk ui
i=1,2,3
Element Matrices
Since the only stress is the normal stress we consider only the
corresponding longitudinal strain along s: t0 11 .
From the TL Formulation we obtain:
t
0
11 =
3
X
d0 xi dt ui
i=1
d0 s d0 s
1 dt ui dt ui
2 d0 s d0 s
Incremental Decomposition
11 =
e
3
X
d0 xi dui
d0 s d0 s
i=1
dt ui dui
d0 s d0 s
11 =
0
1 X dui dui
2
d0 s d0 s
i=1
16
t
0
dr
and 0 s(r) is the arc length (coordinate) at point
d0 s
(x1 (r), x2 (r), x3 (r)) given by
where 0 J 1 =
s(r) =
n
X
Nk 0 s k
k=1
C1111 =
t0 S
11
t0 11
Method of Finite Elements II
17
18
0 eij
0 ij
1
=
2
1
=
2
0 ui,j
+ 0 uj,i +
3
X
!
(t0 uk,i 0 uk,j
t
0 uk,i 0 uk,j )
k=1
3
X
!
0 uk,i 0 uk,j
k=1
Since we are interested in 0 e11 , 0 11 , and since the displacements are restricted in
the 0 x1 , 0 x2 plane the above expressions become
0 e11
u1
t u1 u1
t u2 u2
= 0 + 0
+ 0
0
x1
x1 x1
x1 0 x1
0 11
1
=
2
"
u1
0 x1
2
+
u2
0 x1
2 #
(5)
19
t 1
u2
= 0,
= 0,
t 2
u1
= (0 L + L)cos 0 L
t 2
u2
= (0 L + L)sin
The displacement at a point within the element (at a distance from the center)
is given by
ui =
2
X
Nk t uki
with N1 =
k=1
Also, 0 J =
1
1
(1 ), N2 = (1 + )
2
2
0
0 x2
L
0 x1
=
=
. Then we obtain
N1 () t 1 N2 () t 2
t u1
=
u1 +
u1
0 x1
0 x1
0 x1
h
i 1
(0 L + L)cos
t u1
1
= 0 + (0 L + L)cos 0 L 0 J =
0L
0
x1
0
t
( L + L)sin
u2
Similarly,
=
0L
0 x1
Institute of Structural Engineering
(6)
(7)
(8)
20
2
X
Nk uki
with N1 =
k=1
which yields:
1
1
(1 ), N2 = (1 + )
2
2
u1
u2
1
1
= 0 (u21 u11 ), 0
= 0 (u22 u12 )
L
L
0 x1
x1
1
0 e11 = 0
0L
L
1
u1
#
0
u12
( L + L)sin
0
1
0
1
+
2
0L
u1
u22
1
u1
u12
(0 L + L)
cos sin cos sin
0 e11 =
u2
(0 L)2
1
u22
Institute of Structural Engineering
(9)
matrix equivalent
21
t
0 BL
(0 L + L)
cos
(0 L)2
sin
cos
sin
= (0 J
1 2 0 T
t T T
) ( x NT
, N, + u N, N, )
Next, the linear part of the stiffness matrix is then obtained as:
t
0 KL
Z
=
0V
T
t
t
0
0 BL 0 C0 BL d V
t0 S11
. If we use that the original ratio is equal to the
t0 11
elasticity modulus, we have 0 C = E. Also, 0 V = 0 A0 L. Then,
where for the truss element 0 C =
t
0 KL
= 0A0 C
(0 L
L)2
+
(0 L)3
cos2
cossin
sin2
cos2
sincos
cos2
Symm
Institute of Structural Engineering
cossin
2
sin
sincos
2
sin
22
= R
0
0
RT ,
R=
sin
cos
cos
sin
Then, from Lecture 4 we know that the Piola-Kirchhoff stress is given as:
t
0S
0
t
0
t 0 T
tX
tX
or
0
0
RT =
t
T
t
X t0 S t0 X
0 0
(10)
where the deformation gradient, t0 X, can be obtained as the product of a rotational and
a stretch component as t0 X = RU. For this example the stretch matrix is obviously
(elongation along x):
U=
0L
+ L
0L
0
0L
0 U1 =
1
0L
+ L
0
0
1
23
t
t
t
S 0
0
t
=
= 0 U 0 S UT 0
0
0
0
0
0
0
U1
0
0
t
RT =
t
t
0
0
0
RU t0 S UT RT
(U1 )T
Since mass=const
0
t
(0
0L
tP
L + L
)2 t
0 0
L0 A = t 0 L + Lt A t0 S11 =
0L
0L
tP
+ L
0A
Note how the components of t0 S do not depend on rotation, hence the tensor retains only
the S11 one component. Then, the nonlinear part of the stiffness matrix is derived as:
Z
T
t
t
t
0
K
=
N
L
0
0 BN L 0 S0 BN L d V
0V
where t0 BN L = (0 J 1 ) N, =
Institute of Structural Engineering
1
0
0
1
1
0
0
1
24
Finally, t0 KN L
1
0
= 0
L + L 1
0
tP
0
1
0
1
1
0
1
0
0
1
0
1
and, t0 KN = t0 KL + t0 KN L
and the force vector is obtained as (see relevant table for (TL) formulation):
t
0F
Z
=
0V
Tt
t
0
0 BL 0 S11 d V
(0 L + L)
(0 L)2
cos
0L
tP
sin
0
cos 0 L + L 0 A V
sin
cos
sin
t
t
0F = P
cos
sin
Institute of Structural Engineering
25
x1 (r) =
n
X
Nk 0 xk1
x2 (r) =
k=1
and
x1 (r) =
n
X
Nk 0 xk2
k=1
Nk t xk1
x2 (r) =
k=1
t
n
X
n
X
Nk t xk2
k=1
Pn
k
k=1 Nk ui ,
t
i=1,2
Example
Establish the Total Lagrangian Strain - Displacement matrices for
the following element (assuming large displacements/large strains):
Example
tu1
=1
=0
=0
=1
u12
t 2
u2
t 3
u2
t 4
u2
2=0.5
tu1
1=1
= 0.5
= 0.5
=0
=0
0
r
2
J = tx
t x2 =
1
0
s
s
Institute of Structural Engineering
0
3
2
10
11
12
Exterior
model
95% are
shell
elements
FEM model:
150000 Nodes
Internal structure
zoom. Some Brick
and tetrahedral
elements
http://www.colorado.edu/engineering/CAS/Felippa.d/FelippaHome.d/Home.html
13
http://www.itcsoftware.com/general_finite-eg-automotive.htm
14
Beam Elements
Two beam theories:
Euler-Bernoulli theory (Engineering beam theory) -slender
beams
Timoshenko theory thick beams
Euler - Bernoulli Beam
15
Beam Elements
Euler Bernoulli Beam Assumptions - Kirchhoff Assumptions
Normals remain straight (they do not bend)
Normals remain unstretched (they keep the same length)
Normals remain normal (they always make a right angle to the
neutral plane)
16
- normal stress
M - bending moment
- normal strain
v - displacement of the centroid
EI - bending stiffness
17
shear force
18
(2)
(S)
(3)
Simple support
(4)
Clamped support
(5)
19
Second integration
by by
parts
gives
Second integration
parts gives
Second integration by parts gives
20
(W)
Note:
Note:1. The spaces are C1 continuous, i.e. the derivative must also be
continuous
1. The
spaces are C 1 continuous, i.e. the derivative must also be
continuous
2. The left side is symmetric in w and v (bi-linear form: a(v,w)=a(w,v)
2. The
left
is to
symmetric
instiffness
w and vmatrix
(bi-linear form:
this
willside
lead
symmetric
a(v,w)=a(w,v)) this will lead to symmetric Stiffness Matrix
Institute of Structural Engineering
21
Physical domain
Natural domain
Element
displacement
vector
Element
force
vector
22
23
However note :
From coordinate transformation (mapping)
24
25
The
second
derivative
The
second
derivative
becomesbecomes
and
26
Force vector
27
Pre-processing
28
[1]
[2]
[3]
[4]
[3]
[4]
[5]
[6]
29
[4]
[5]
[6]
30
(Point loads)
31
=KNOWN
Post-processing
32
Timoshenko Beam
In a Timoshenko Beam, a plane normal to
the beam axis before deformation doesnt
remain normal after deformation (short and
thick beams, sandwich composite beams).
dv
:
i.e. 6=
dx
dv
= +
Transverse Shear strain
dx
d
Normal strain
= y
dx
G - shear modulus
b - widthh
- correction factor
h - height
33
Timoshenko Beam
98
2-node C 0 linear-displacement-and-rotations
element for Timoshenko beam model:
plane sections remain plane but not
normal to deformed longitudinal axis
(b)
(a)
C element
with same DOFs
Figure 9.6. Sketch of the kinematics of two-node beam finite element models based on
(a) Euler-Bernoulli beam theory, and (b) Timoshenko beam theory. These
models are called C 1 and C 0 beams, respectively, in the FEM literature.
Institute of Structural Engineering
34
Timoshenko Beam
Substituting
the the
relations
intointo
U U
Substituting
relations
Substituting the relations into U
- moment of inertia
II -moment
of inertia
- moment
inertia
A
- of
cross-sectional
area
A-cross-sectional
A
- cross-sectional area
area
Galerkins
Approximation
(Linear
shape
functions)
Galerkins
Approximation
(Linear
shape
functions)
Element
stiffness
Element
stiffness
Element stiffness
35
Timoshenko Beam
Exact integration
Shear Locking
36
37
Plates and Shells are a special case of 3D solids (which are much
easier to handle).
38
Plate Theories
Several different plate-theories exist
Several different plate-theories
39
V@
sides
andand
thethenodal
, andnormal
normalrotations
rotations8,,8,,and
andBy,By,atateach
eachnode
nodei iasasdegrees-ofdegrees-ofsides
nodaldeflection
deflectionw ,wand
freedom
(Figures
2a2aand
3a)3a)belong
freedom
(Figures
and
belongtotothis
thiscategory.
category.Typical
Typicalexamples
examplesofofsuch
suchelements
elementsare
arethe
the
of
Reference
2,
the
element
of
Reference
3
and
the
discrete
Kirchhoff
elements
elements
elements of Reference 2, the element of Reference 3 and the discrete Kirchhoff elementsofof
4 and
5. 5.
References
4 and
References
Plate Theories
Wl
Wl
(b)
(b)
.-.-
w, w,
6,l
6,l
2 2
6x1
6x1
22
Figure
2 . 2Triangular
Kirchhoff
Figure
. Triangular(a)(a)
Kirchhoffand
and(b)(b)Mindlin
Mindlinplate
plateelements
elements
44
2 2
2 2
Figure
3. 3.
Quadrilateral
Kirchhoff
Mindlin
Figure
Quadrilateral(a)(a)
Kirchhoffand
and(b)(b)
Mindlinplate
plateelements
elements
40
Kirchhoff Plate
41
Kirchhoff Plate
Define the curvature of the plate
1
0
E
1
D=
0
1 2
1
0 0
(Plane-stress)
42
Kirchhoff Plate
Moments are defined as
Equilibrium Conditions
Q - Shear forces
p distributed pressure
Elimination of shear forces
biharmonic equation
bending rigidity
43
stiffness matrix
44
45
xi =
N
X
k=1
Nk t xki +
k=1
k=1
sX
tX
ak Nk t Vtik +
bk Nk t Vsik ,
2
2
i = 1, 2, 3
Vectors Vs and Vt define the orientation of the cross-section for the beam:
They are normal to the axis of the beam and to each other. The values a
and b define the size of the cross section of the beam.
The relative displacement components would be:
ui = t xi 0 xi
ui = t + t xi t xi
46
ui =
N
X
Nk t uki +
k=1
and ui =
N
X
k=1
k=1
k=1
tX
sX
k
k
ak Nk (t Vtik 0 Vti
)+
bk Nk (t Vsi
0 Vsik )
2
2
Nk uki
k=1
k=1
sX
tX
ak Nk Vtik +
bk Nk Vsik ,
+
2
2
i = 1, 2, 3
where
k
Vti
= t + t Vtik t Vtik
k
Vsi
= t + t Vsik t Vsik
47
xk
yk
zk
Vtk = k t Vt
Vsk = k t Vs
48
..
.
uk
k
..
.
t + t
=
R tF
(1)
Having solved Eqn (1) for bf uk , k , we obtain the approximations for the
nodal point displacement and direction vectors:
t + t
uk = t uk + uk
Z
k
t + t
Vt = t Vtk +
dk Vtk
Vk
Z
k
t + t
Vs = t Vsk +
dk Vsk
Vk
49
50
xi =
N
X
k=1
Nk t xki +
k=1
k=1
tX
sX
ak Nk t Vtik +
bk Nk t Vsik ,
2
2
i = 1, 2, 3
51
ui =
N
X
k=1
Nk t uki +
N
N
tX
sX
k
k
ak Nk (t Vtik 0 Vti
)+
bk Nk (t Vsi
0 Vsik ),
2
2
k=1
i = 1, 2
k=1
hence:
52
e1
e2
e3
k cos(t k )
k
0
0
= k sin(t k )
k t Vs =
t
t
sin( k ) cos( k ) 0
0
and k (k
k
t
Vs )
e1
e2
e3
k sin(t k )
0
0
= k2 cos(t k )
=
k cos(t k ) k sin(t k ) 0
0
53
and ui =
N
X
k=1
Nk uki +
k=1
k=1
tX
sX
ak Nk Vtik +
bk Nk Vsik ,
2
2
i = 1, 2
hence:
54
where we assumed t L = 0 L = L.
Institute of Structural Engineering
55
These will be used to derive the strain-displacement matrices B and finally the
stiffness matrix K
Institute of Structural Engineering
56
Constitutive Relations
Previously we examined the kinematic equations formulation
(displacement, strain displacement relations)
The next step is to determine appropriate constitutive relationships
of the form:
= f ()
ex. linear analysis = E
When dealing with incremental analysis this is written in tensor
form for time t:
t
= t Cijrs t rs
Constitutive Relations
Solution Flowchart
General Solution process in incremental nonlinear FE
Known Solution at t:
Stresses
, strains ,
Calculate at t+ t:
Stresses +
, from
Calculate:
Incremental Displacement Vector i :
+
i =
Then,
+ i
Notation
Elastic Material
For an elastic material the stress is a function of strain only The
stress path is the same both in loading and unloading
Linear Elastic
The elasticity (constitutive)
tensor components, Cijrs are
constant
Nonlinear Elastic
The elasticity (constitutive)
tensor components, Cijrs are
a function of strain
Example: Almost all materials under small stress
Institute of Structural Engineering
Elastic Material
For the case of an elastic material we already saw that the TL
Formulation (used for large deformation analysis) yields:
t
0
where and are the Lame constants and ij is the Kronecker delta,
E
,
()(1 2)
0 i 6= j
ij =
1 i=j
E
2(1 + )
Elastic Material
Important Note
The 2nd Piola-Kirchhoff (PK2) stress and Green-Lagrange strain
tensor components are invariant to rigid body motions.
For problems with small strains we can take advantage of this
observation and use any constitutive relationship that has been
developed for engineering stress and strain measures by just
substituting with the PK2 stress and Green-Lagrange strain
This observation can be extended to all problems with large
deformations but small strain conditions such as the elastic or
elastoplastic buckling problem and the collapse analysis of slender
structures.
Elastic Material
UL Formulation
We now write
t
ij = tt C ijrs tt Ars
C ijrs =
t
0
t
0
xi,m
t
0
xj,n
t
0
Cmnpq
t
0
xr,p
t
0
xs,q
= 0t XT 0t 0t X
10
Example
Consider the four node element shown below. Examine the effect of using two
different stress measures and the same constitutive matrix on the Cauchy stresses.
A. TL formulation Using the PK2 stress measure and the Green-Lagrange strain
tensor we have:
t
t
t
(1)
0 Sij = 0 Cijrs 0 rs
11
Example
In order to define the required stresses and strains we need to determine the deformation
gradient t0 S, which in 2D is written as:
t
x1
t x1
t
0 x2
0 x1
(2)
0X = tx
t x2
2
0 x1
0 x2
The coordinates of a random point within the element are given as the weighted sum of
the nodal coordinates, where the weights are the shape functions. However, the shape
functions are written with respect to the r, s system (isoparametric representation) as:
1
1
(1 + r)(1 + s) N2 = (1 r)(1 + s)
4
4
1
1
N3 = (1 r)(1 s) N4 = (1 + r)(1 s)
4
4
N1 =
(3)
From the given figure however we see that the 0 x1 , 0 x2 system is related to the r, s
system through:
0
x1 = r + 1
x2 = s + 1
1
N 1 = 0 x1 0 x2
4
1
N2 = (2 0 x1 )(0 x2 )
4
1
1
0
0
N3 = (2 x1 )(2 x2 ) N4 = 0 x1 (2 0 x2 )
4
4
Institute of Structural Engineering
(4)
12
Example
Therefore, we ultimately have:
4
X
t xi
=
0
xj
k=1
Nk
0 xj
t k
xi
(5)
(t x1 , t x12 ) = (2 + 4t, 2)
(t x31 , t x32 ) = (0, 0)
(6)
1 t Tt
(0 X 0 X I)
2
"
#
0
t
t
=
0
t 2t2
13
Example
Also, for plane strain strain conditions the constitutive tensor is:
1
0
6731 2885
E 1
0
E=5000,=0.3
2885 6731
C=
1 2
1
0
0
0 0
2
1923
Now, using the assumption of small strain we can use the above constitutive
tensor for the relationship between the PK2 stress and the Green-Lagrange strain.
Hence from Eqn (1):
S11
5770t2
2
S22 = 13462t
S12
3846t
14
Example
Then, the Cauchy stress at time t can be obtained from the PK2
stress as (Lecture 4):
t
= 0 t0 X t0 S t0 XT
21000t2 + 54000t4
11
13000t2
22 =
12
3800t + 27000t3
15
Example
B. Jaumann stress rate formulation
This formulation uses the following constitutive relationship:
t
ij = t Cijrs
Drs
(7)
where the velocity strain tensor t D is computed using the velocity gradient L (see
Lecture 4) :
"
#
0 2
1 =
L = XX
0 0
L can be decomposed to s symmetric part D = DT (the velocity strain tensor) and a
skew symmetric part W = WT (the spin tensor):
L = D + W which in this case yields
"
#
"
#
0 1
0
1
D=
, W=
1 0
1 0
Now we use the same constitutive matrix C and Eqn (7) to obtain the Jaumann stress at
time t:
11
0
22 = 0
12
Institute of Structural Engineering
3846
Method of Finite Elements II
16
Example
The Jaumann stress is connected to the Cauchy stress through:
ij = ij + ip Wpj + jp Wpi
which from the above yields the follwoing formula for the Cauchy components ij
11
22 =
12
212
212
3846 + 22 11
The above system of ordinary differential equations can be solved to finally get:
11
1900(1 cos2t)
22 = 1900(1 cos2t)
12
1900sin2t
The results from methods A and B are rather close for small values of the deformation
measure t but grow quite different as t gets larger than 0.1, indicating that the same C
can no longer be used.
Institute of Structural Engineering
17
Hyperelastic Material
t
0
Sij =
W
t0 ij
Figure: Stress-strain curves for various
hyperelastic material models.
18
Hyperelastic Material
Hyperelastic Material Models
Saint Venant-Kirchhoff model
1
[(I1 )2 tr(C)2 ]
2
19
Hypoelastic Material
In this case, stress increments are calculated from strain increments
20
Inelasticity
Elastoplasticity, Creep and Viscoplasticity are types of Inelastic
behavior
Elastic behavior stresses can be directly calculated from the strain
Inelastic behavior the stress at time t depends on the stress strain
history
In the incremental analysis of inelastic response we had three main scenarios
Small displacements-rotations / small strains use linear elastic
solution, engineering stress and strain measures
Large displacements-rotations / small strains use TL formulation
by substituting the appropriate stress - strain measures (PK2,
Green-Lagrange) in the place of the engineering stress and strain
measures
Large displacements-rotations / large strains use either TL or UL
formulation, more complex constitutive laws
21
Elastoplasticity
In this formulation we encounter a linearly elastic behavior until yield
and usually a gardening post yield behavior
22
Elastoplasticity
The strain and stress increments are given by:
E
where Cijrs are the components of the elastic constitutive tensor and drs , drs ,
P
Yield Function fy (, )
fy < 0 Elastic behavior
fy = 0 Plastic behavior
fy > 0 Inadmissible
Flow rule
The yield function is used in the flow rule in order to obtain the plastic
strain increments
P
dij =
fy
ij
is a scalar to be determined
Hardening rule
This specifies how the yield function is modified during plastic flow
Institute of Structural Engineering
23
Elastoplasticity
Example: Von Mises yield criterion (in 3D):
2
2
2
fy = 0 (11 22 )2 + (22 33 )2 + (11 33 )2 + 6(12
+ 23
+ 31
) 2y2 = 0
24
Elastoplasticity
Isotropic & Kinematic hardening Rules
In the case of isotropic hardening, the yield surface expands
uniformly.
In the case of kinematic hardening, the size of the yield surface
remains unchanged and the center location of the yield surface
is shifted.
25
Elastoplasticity
Response for cyclic loading
Isotropic hardening: the yield stress is higher as the cyclic loading progresses
Kinematic hardening: the difference between unloading stress and new yield
stress in the opposite direction of loading is constant and equal to 2y .
26
27
Creep
1. A primary creep stage, also known as transient creep, is the starting stage
during which hardening of the material leads to a decrease in the rate of flow
which is initially very high. (0 1 ).
2. The secondary creep stage, also known as the steady state, is where the strain
rate is constant. (1 2 ).
3. A tertiary creep phase in which there is an increase in the strain rate up to the
fracture strain. (2 R ).
Institute of Structural Engineering
28
Relaxation
A relaxation test is defined as the stress response due to a constant strain for a
period of time. In viscoplastic materials, relaxation tests demonstrate the stress
relaxation in uniaxial loading at a constant strain. The decompositon of strain
d
de dvp
rate is
=
+
dt
dt
dt
d
de
The elastic part of the strain rate is given by
= E1
dt
dt
For the flat region of the strain-time curve, the total strain rate is zero.
dvp
d
= E1
Hence we have,
dt
dt
Therefore the relaxation curve can be used to determine rate of viscoplastic strain
and hence the viscosity of the dashpot in a 1D viscoplastic material model.
Institute of Structural Engineering
29
Viscoplasticity
Viscoplasticity describes the rate-dependent inelastic behavior of
solids. Rate-dependence in this context means that the deformation
of the material depends on the rate at which loads are applied[1].
The inelastic behavior that is the subject of viscoplasticity is plastic
deformation which means that the material undergoes unrecoverable
deformations when a load level is reached. Rate-dependent plasticity
is important for transient plasticity calculations.
The main difference between rate-independent plastic and
viscoplastic material models is that the latter exhibit not only
permanent deformations after the application of loads but continue
to undergo a creep flow as a function of time under the influence of
the applied load.
Typical examples of such behavior are Polymers and Metals
30
Viscoplasticity
The elastic response of viscoplastic materials can be represented in one-dimension
by Hookean spring elements. Rate-dependence can be represented by nonlinear
dashpot elements.
Plasticity can be accounted for by
adding sliding frictional elements. In the
figure E is the modulus of elasticity, is
the viscosity parameter and N is a
power-law type parameter that
represents non-linear dashpot
d 1/N
=
. The sliding element can
dt
have a yield stress (y) that is strain
rate dependent, or even constant, as
shown in Figure (c).
31
Viscoplasticity
Stress-strain response of a
viscoplastic material at different
strain rates. The dotted lines
show the response if the
strain-rate is held constant. The
blue line shows the response when
the strain rate is changed
suddenly.
32
33
Contact Conditions
Usual term
Contribution of contact
forces
Consider N bodies that are in contact at
time t:
t
Then the virtual work for the N bodies at time t is give by:
34
Contact Conditions
Usual term
Cont
force
We denote the two bodies as I and J. Each body is supported such that
without contact no rigid motion is possible.
Institute of Structural Engineering
35
S IJ
S IJ
where
where
36
37
38
39
40
Contact Analysis
Complexities
In the previous we consider pseudo-static contact conditions
In dynamic analysis:
Body forces include inertial force effects and the kinematic interface
conditions must be satisfied at all instances of time, requiring
displacement, velocity and acceleration compatibility between the
contacting bodies.
The time integrations schemes (ex. trapezoidal rule) do not
automatically satisfy compatibility which therefore has to be imposed
separately on the step by step solution
Various algorithms have been proposed to solve contact problems in
Finite Element analysis.
Institute of Structural Engineering
41
v(u,
) = 0
These can now be imposed on the principle of virtual work using either a
penalty approach or a Lagrange Multiplier method. Variables and can
be considered Lagrange multipliers, and so we consider their variations ,
. By multiplying by the variations and integrating in the domain we
obtain the constraint equation:
Z
[ w(g, ) + u(u,
)]dS IJ = 0
S IJ
The governing equations of motion in this case are now both the principle
of virtual work and the constraint equation
Institute of Structural Engineering
42
Constitutive Relations
Previously we examined the kinematic equations formulation
(displacement, strain displacement relations)
The next step is to determine appropriate constitutive relationships
of the form:
= f ()
ex. linear analysis = E
When dealing with incremental analysis this is written in tensor
form for time t:
t
= t Cijrs t rs
Constitutive Relations
Solution Flowchart
General Solution process in incremental nonlinear FE
Known Solution at t:
Stresses
, strains ,
Calculate at t+ t:
Stresses +
, from
Calculate:
Incremental Displacement Vector i :
+
i =
Then,
+ i
Notation
Elastic Material
For an elastic material the stress is a function of strain only The
stress path is the same both in loading and unloading
Linear Elastic
The elasticity (constitutive)
tensor components, Cijrs are
constant
Nonlinear Elastic
The elasticity (constitutive)
tensor components, Cijrs are
a function of strain
Example: Almost all materials under small stress
Institute of Structural Engineering
Elastic Material
For the case of an elastic material we already saw that the TL
Formulation (used for large deformation analysis) yields:
t
0
where and are the Lame constants and ij is the Kronecker delta,
E
,
()(1 2)
0 i 6= j
ij =
1 i=j
E
2(1 + )
Elastic Material
Important Note
The 2nd Piola-Kirchhoff (PK2) stress and Green-Lagrange strain
tensor components are invariant to rigid body motions.
For problems with small strains we can take advantage of this
observation and use any constitutive relationship that has been
developed for engineering stress and strain measures by just
substituting with the PK2 stress and Green-Lagrange strain
This observation can be extended to all problems with large
deformations but small strain conditions such as the elastic or
elastoplastic buckling problem and the collapse analysis of slender
structures.
Elastic Material
UL Formulation
We now write
t
ij = tt C ijrs tt Ars
C ijrs =
t
0
t
0
xi,m
t
0
xj,n
t
0
Cmnpq
t
0
xr,p
t
0
xs,q
= 0t XT 0t 0t X
10
Example
Consider the four node element shown below. Examine the effect of using two
different stress measures and the same constitutive matrix on the Cauchy stresses.
A. TL formulation Using the PK2 stress measure and the Green-Lagrange strain
tensor we have:
t
t
t
(1)
0 Sij = 0 Cijrs 0 rs
11
Example
In order to define the required stresses and strains we need to determine the deformation
gradient t0 S, which in 2D is written as:
t
x1
t x1
t
0 x2
0 x1
(2)
0X = tx
t x2
2
0 x1
0 x2
The coordinates of a random point within the element are given as the weighted sum of
the nodal coordinates, where the weights are the shape functions. However, the shape
functions are written with respect to the r, s system (isoparametric representation) as:
1
1
(1 + r)(1 + s) N2 = (1 r)(1 + s)
4
4
1
1
N3 = (1 r)(1 s) N4 = (1 + r)(1 s)
4
4
N1 =
(3)
From the given figure however we see that the 0 x1 , 0 x2 system is related to the r, s
system through:
0
x1 = r + 1
x2 = s + 1
1
N 1 = 0 x1 0 x2
4
1
N2 = (2 0 x1 )(0 x2 )
4
1
1
0
0
N3 = (2 x1 )(2 x2 ) N4 = 0 x1 (2 0 x2 )
4
4
Institute of Structural Engineering
(4)
12
Example
Therefore, we ultimately have:
4
X
t xi
=
0
xj
k=1
Nk
0 xj
t k
xi
(5)
(t x1 , t x12 ) = (2 + 4t, 2)
(t x31 , t x32 ) = (0, 0)
(6)
1 t Tt
(0 X 0 X I)
2
"
#
0
t
t
=
0
t 2t2
13
Example
Also, for plane strain strain conditions the constitutive tensor is:
1
0
6731 2885
E 1
0
E=5000,=0.3
2885 6731
C=
1 2
1
0
0
0 0
2
1923
Now, using the assumption of small strain we can use the above constitutive
tensor for the relationship between the PK2 stress and the Green-Lagrange strain.
Hence from Eqn (1):
S11
5770t2
2
S22 = 13462t
S12
3846t
14
Example
Then, the Cauchy stress at time t can be obtained from the PK2
stress as (Lecture 4):
t
= 0 t0 X t0 S t0 XT
21000t2 + 54000t4
11
13000t2
22 =
12
3800t + 27000t3
15
Example
B. Jaumann stress rate formulation
This formulation uses the following constitutive relationship:
t
ij = t Cijrs
Drs
(7)
where the velocity strain tensor t D is computed using the velocity gradient L (see
Lecture 4) :
"
#
0 2
1 =
L = XX
0 0
L can be decomposed to s symmetric part D = DT (the velocity strain tensor) and a
skew symmetric part W = WT (the spin tensor):
L = D + W which in this case yields
"
#
"
#
0 1
0
1
D=
, W=
1 0
1 0
Now we use the same constitutive matrix C and Eqn (7) to obtain the Jaumann stress at
time t:
11
0
22 = 0
12
Institute of Structural Engineering
3846
Method of Finite Elements II
16
Example
The Jaumann stress is connected to the Cauchy stress through:
ij = ij + ip Wpj + jp Wpi
which from the above yields the follwoing formula for the Cauchy components ij
11
22 =
12
212
212
3846 + 22 11
The above system of ordinary differential equations can be solved to finally get:
11
1900(1 cos2t)
22 = 1900(1 cos2t)
12
1900sin2t
The results from methods A and B are rather close for small values of the deformation
measure t but grow quite different as t gets larger than 0.1, indicating that the same C
can no longer be used.
Institute of Structural Engineering
17
Hyperelastic Material
t
0
Sij =
W
t0 ij
Figure: Stress-strain curves for various
hyperelastic material models.
18
Hyperelastic Material
Hyperelastic Material Models
Saint Venant-Kirchhoff model
1
[(I1 )2 tr(C)2 ]
2
19
Hypoelastic Material
In this case, stress increments are calculated from strain increments
20
Inelasticity
Elastoplasticity, Creep and Viscoplasticity are types of Inelastic
behavior
Elastic behavior stresses can be directly calculated from the strain
Inelastic behavior the stress at time t depends on the stress strain
history
In the incremental analysis of inelastic response we had three main scenarios
Small displacements-rotations / small strains use linear elastic
solution, engineering stress and strain measures
Large displacements-rotations / small strains use TL formulation
by substituting the appropriate stress - strain measures (PK2,
Green-Lagrange) in the place of the engineering stress and strain
measures
Large displacements-rotations / large strains use either TL or UL
formulation, more complex constitutive laws
21
Elastoplasticity
In this formulation we encounter a linearly elastic behavior until yield
and usually a gardening post yield behavior
22
Elastoplasticity
The strain and stress increments are given by:
E
where Cijrs are the components of the elastic constitutive tensor and drs , drs ,
P
Yield Function fy (, )
fy < 0 Elastic behavior
fy = 0 Plastic behavior
fy > 0 Inadmissible
Flow rule
The yield function is used in the flow rule in order to obtain the plastic
strain increments
P
dij =
fy
ij
is a scalar to be determined
Hardening rule
This specifies how the yield function is modified during plastic flow
Institute of Structural Engineering
23
Elastoplasticity
Example: Von Mises yield criterion (in 3D):
2
2
2
fy = 0 (11 22 )2 + (22 33 )2 + (11 33 )2 + 6(12
+ 23
+ 31
) 2y2 = 0
24
Elastoplasticity
Isotropic & Kinematic hardening Rules
In the case of isotropic hardening, the yield surface expands
uniformly.
In the case of kinematic hardening, the size of the yield surface
remains unchanged and the center location of the yield surface
is shifted.
25
Elastoplasticity
Response for cyclic loading
Isotropic hardening: the yield stress is higher as the cyclic loading progresses
Kinematic hardening: the difference between unloading stress and new yield
stress in the opposite direction of loading is constant and equal to 2y .
26
27
Creep
1. A primary creep stage, also known as transient creep, is the starting stage
during which hardening of the material leads to a decrease in the rate of flow
which is initially very high. (0 1 ).
2. The secondary creep stage, also known as the steady state, is where the strain
rate is constant. (1 2 ).
3. A tertiary creep phase in which there is an increase in the strain rate up to the
fracture strain. (2 R ).
Institute of Structural Engineering
28
Relaxation
A relaxation test is defined as the stress response due to a constant strain for a
period of time. In viscoplastic materials, relaxation tests demonstrate the stress
relaxation in uniaxial loading at a constant strain. The decompositon of strain
d
de dvp
rate is
=
+
dt
dt
dt
d
de
The elastic part of the strain rate is given by
= E1
dt
dt
For the flat region of the strain-time curve, the total strain rate is zero.
dvp
d
= E1
Hence we have,
dt
dt
Therefore the relaxation curve can be used to determine rate of viscoplastic strain
and hence the viscosity of the dashpot in a 1D viscoplastic material model.
Institute of Structural Engineering
29
Viscoplasticity
Viscoplasticity describes the rate-dependent inelastic behavior of
solids. Rate-dependence in this context means that the deformation
of the material depends on the rate at which loads are applied[1].
The inelastic behavior that is the subject of viscoplasticity is plastic
deformation which means that the material undergoes unrecoverable
deformations when a load level is reached. Rate-dependent plasticity
is important for transient plasticity calculations.
The main difference between rate-independent plastic and
viscoplastic material models is that the latter exhibit not only
permanent deformations after the application of loads but continue
to undergo a creep flow as a function of time under the influence of
the applied load.
Typical examples of such behavior are Polymers and Metals
30
Viscoplasticity
The elastic response of viscoplastic materials can be represented in one-dimension
by Hookean spring elements. Rate-dependence can be represented by nonlinear
dashpot elements.
Plasticity can be accounted for by
adding sliding frictional elements. In the
figure E is the modulus of elasticity, is
the viscosity parameter and N is a
power-law type parameter that
represents non-linear dashpot
d 1/N
=
. The sliding element can
dt
have a yield stress (y) that is strain
rate dependent, or even constant, as
shown in Figure (c).
31
Viscoplasticity
Stress-strain response of a
viscoplastic material at different
strain rates. The dotted lines
show the response if the
strain-rate is held constant. The
blue line shows the response when
the strain rate is changed
suddenly.
32
33
Contact Conditions
Usual term
Contribution of contact
forces
Consider N bodies that are in contact at
time t:
t
Then the virtual work for the N bodies at time t is give by:
34
Contact Conditions
Usual term
Cont
force
We denote the two bodies as I and J. Each body is supported such that
without contact no rigid motion is possible.
Institute of Structural Engineering
35
S IJ
S IJ
where
where
36
37
38
39
40
Contact Analysis
Complexities
In the previous we consider pseudo-static contact conditions
In dynamic analysis:
Body forces include inertial force effects and the kinematic interface
conditions must be satisfied at all instances of time, requiring
displacement, velocity and acceleration compatibility between the
contacting bodies.
The time integrations schemes (ex. trapezoidal rule) do not
automatically satisfy compatibility which therefore has to be imposed
separately on the step by step solution
Various algorithms have been proposed to solve contact problems in
Finite Element analysis.
Institute of Structural Engineering
41
v(u,
) = 0
These can now be imposed on the principle of virtual work using either a
penalty approach or a Lagrange Multiplier method. Variables and can
be considered Lagrange multipliers, and so we consider their variations ,
. By multiplying by the variations and integrating in the domain we
obtain the constraint equation:
Z
[ w(g, ) + u(u,
)]dS IJ = 0
S IJ
The governing equations of motion in this case are now both the principle
of virtual work and the constraint equation
Institute of Structural Engineering
42
Contact Conditions
of contact
contact
tractions
t S
fi : components of the known
externally applied traction.
Then the virtual work for the N bodies at time t is give by:
Contact Conditions
Usual term
Contribu
forces
We denote the two bodies as I and J. Each body is supported such that
without contact no rigid motion is possible.
Institute of Structural Engineering
S IJ
S IJ
where
where
Contact Problem
Complexities
In the previous we consider pseudo-static contact conditions
In dynamic analysis:
Body forces include inertial force effects and the kinematic interface
conditions must be satisfied at all instances of time, requiring
displacement, velocity and acceleration compatibility between the
contacting bodies.
The time integrations schemes (ex. trapezoidal rule) do not
automatically satisfy compatibility which therefore has to be imposed
separately on the step by step solution
Various algorithms have been proposed to solve contact problems in
Finite Element analysis.
Institute of Structural Engineering
10
v(u,
) = 0
These can now be imposed on the principle of virtual work using either a
penalty approach or a Lagrange Multiplier method. Variables and can
be considered Lagrange multipliers, and so we consider their variations ,
. By multiplying by the variations and integrating in the domain we
obtain the constraint equation:
Z
[ w(g, ) + u(u,
)]dS IJ = 0
S IJ
The governing equations of motion in this case are now both the principle
of virtual work and the constraint equation
Institute of Structural Engineering
11
t+t
Fc (t+t U, t+t ) = 0
t + t
= [1 , 1 , ..., k , k , ..., m , m ]
12
k (nk + k sk )
t+t k
Rc = (1 k )k (nk + k sk )
k k (nk + k sk )
t+t
13
A cable, when subjected to a large tension force, has an increased lateral stiffness.
If a long rod is subjected to a large compressive force, and is on the verge of
buckling, we know that the lateral stiffness of the rod has been reduced
significantly and a small lateral load may cause the rod to buckle. This general
type of behavior is caused by a change in the geometric stiffness of the
structure. This stiffness is a function of the load in the structural member and
can be either positive or negative.
Institute of Structural Engineering
14
Fi
T
Deformed Position
Fj
vi
T
vj
Taking
moments
point j in
in the
the cable.
deformed position, the following equilibrium
and do not
changeabout
the tension
of Structural Engineering
Method of Finite Elements II
equation can be Institute
written:
15
T
(vi vj )
L
16
Fi
36
3L
36
3L
vi
2
2
Mi
T
4L
3L L
3L
i or FG = KG v
Fj = 30L 36 3L
36
3L vj
Mj
3L L2 3L 4L2
j
The well-known elastic force deformation relationship, for a prismatic beam
without shearing deformations, is
Fi
12
6L
12
6L
vi
2
2
Mi
EI
4L
6L 2L
6L
i or FE = KE v
Fj = L3 12 6L
12
6L vj
Mj
6L 2L2 6L
4L2
j
Therefore, the total forces acting on the beam element will be:
FT = FE + FG = [KE + KG ]v = KT v
17
Conclusion
So in the case of Constant dead loads where T is usually constant
the calculation of the large displacement effect for cable and beam
elements is performed by the addition in the FEM code of an
appropriate extra geometric stiffness term.
18
I
Introduction
dSwiss Federal
i
Institute of Technology
Page 3
mx = w k ( + x)
mx The
w +very
k ( +basics
x) = 0
Stretched position
w = mg
mx = w k ( x)
mx k + k ( + x) = mx + kx = 0
k
(2 +
x) = 0
x + mxx=w
x++k
nx =0
m
mx k k
x mx kx
I
Introduction
d i
m
w = mg
x x ,
x
m
n = 2 =
= 2
k
n
fn =
1
2
(static equilibrium)
Unstretched
position
p
Stretched position
(static equilibrium)
x x ,
x
k
m
0
x = A=sinAsin
nt t nx t=
x sin
n=
t + x0 x0 cos
nnt t + x0 cosn t
k n t + B
x(t)
tcos
+
x(t)
sin
2 Bcos
n
2
m
x
+
x
=
x
+
x
=
0
= 2
=
= 2
n
n
ethod of Finite Elements II
2
n =
=
where
T
k
m
fn =
1
2
k
m
19
where:
M:
Mass Matrix
FI (t) = MU
Inertial Force
K:
Stiffness Matrix
FD (t) = CU
Damping Force
U:
Displacements
FE (t) = KU
Internal Force
:
U
Velocities
:
U
Accelerations
20
21
22
23
Assumptions
The displacements, velocities and accelerations
U0 :
0:
U
0 :
U
24
y(t0 ) = y0
25
Implicit methods:
Solution is based on the equilibrium equations at time t + t
1st order Example: The Backward Euler Method
Assuming we want to approximate the solution of the same
initial value problem the backward Euler integration rule is
obtained as:
yn+1 = yn + hf (tn+1 , yn+1 )
Since f (t, y) is, in general, a non-linear function of y, iteration
is required to solve this last equation for yn+1 .
26
27
= 1 (t+t U t-t U)
U
2t
(1)
= 1 (t+t U 2t U + t-t U)
U
t2
(2)
+ CU
+ KU = R:
Substitute Eqns (1),(2) into MU
1
1
M+
C
t2
t2
t+t
2
1
1
t
t-t
U = tR K
M
U
C
U
t2
t2
2t
28
-t
2
+ t 0 U
U = 0 U t0 U
2
29
30
Di Central
Direct
t Integration
I t Difference
ti Methods
M Method
th d
The
Solution Procedure
Th Central
The
C
l difference
diff
method:
h d Solution
S l i
procedure:
d
B.
B: For
Foreach
eachtime
timestep
step
= t R ( K a M ) t U ( a M a C ) t t U
R
2
0
1
LDLT t +t U = t R
3) If required, solve for the corresponding velocities and
accelerations
t
= a ( t t U 2 t U + t +t U)
U
0
U = a1 (
t t
U + t +t U)
31
Di Central
Direct
t Integration
I t Difference
ti Methods
M thMethod
d
The
The
The effectiveness
Central difference
methoddifference method depends on the
of the central
efficiency of the time step solution since generally a small
discretization
is required.
The effectiveness
of the central difference method depends on the
efficiency of the time step solution because we need a lot of
For
this reason the method is usually only applied when a lumped
them
(diagonal)
mass the
matrix
assumed
and
when
F this
For
thi reason
th
method
thcan
d is
ibeusually
ll only
l applied
li dthe
when
hvelocity
a lumped
l
d
mass matrix
can be(C)
assumed
when thei.e.:
velocity dependent
dependent
damping
can beand
neglected,
damping can be neglected, i.e.:
1
M t +t U = t R
t 2
2
t
R = t R K 2 M t U 2 M t t U
1
t
R = t R t F 2 M ( t t U 2 t U)
t
i
(i )
t
U i = t Ri (
), mii > 0
mii
2
t +t
K t U = K (i ) t U = t F
i
(i )
32
Di t Integration
Direct
I t
ti Methods
M th d
k1 = 4
m1 = 2
U1 ,U1 ,U1
k2 = 2
m2 = 1
U 2 ,U 2 ,U2
R1 = 0
2 0 U1 6 2 U1 0
0 1 + 2 4 U = 10
U 2
2
R2 = 10
k3 = 2
33
34
Di t IIntegration
Direct
t
ti Methods
M th d
The Central Difference Method
2 0 U1 6
0 1 + 2
U 2
1
,
t 2
a1 =
1
,
2t
a2 = 2a0 ,
a3 =
1
a2
1
1
= 12.8, a1 =
= 1.79,
(0.28) 2
2 0.28
1
1
a2 = 2
= 25.5, a3 =
= 0.0392
2
(0.28)
25.5
a0 =
For t = 0.28
0
0
0 0
Ui = 0.28
0 28 + 00.0392
0392 =
0
0
10 0.0392
2 0
0 0 25.5 0
= 12.8
M
12 8
+
1.79
1
79
0 0 = 0 12.8
0 1
2 t
25.5 0 t t
= 0 + 45.0
R
U
10 2
U
21.5
0 12.8
35
Di t IIntegration
Direct
t
ti Methods
M th d
2 0 U1 6 2 U1 0
0 1 + 2 4 U = 10
U 2
2
The equation which must be solved for each time step is:
The equation which must be solved for each time step is:
25.5 0 U1 t
0 12.8 t +t = R
U 2
t +t
45 0
2 tU1 25
25.5
5 0 U1
= 0 + 45.0
R
t
10 2
21.5 U 2 0 12.8 t tU
2
t t
36
6
CentralDifference_U1
CentralDifference_U2
4
3
2
1
0
0
0.5
1.5
2.5
3.5
37
TheSwiss
Houbolt
Method
Federal Institute of Technology
Page 20
Di t Integration
Direct
I Method
t
tiDerivative
Methods
M th Approximation
d
Houbolt
+ CU
+ KU = R
MU
= 1 (2 t +t U 5 t U + 4 t t U t 2 t U)
U
t 2
1
t +t
(11t +t U 18 t U + 9 t t U 2 t 2 t U)
U=
6t
t +t
a
b
a and b inserted in c
12
2
C + K t +t U =
2 M+
6t
t
3
3 t t
1 t 2 t
5
4
1
t +t
R + 2 M + C t U 2 M +
C U + 2 M +
C
U
t
t
t
t
2
t
t
3
38
The
Method
Di Houbolt
Direct
t IIntegration
t
ti Methods
M th d
We
Th will
The
Houbolt
H not
b lconsider
method
h d
the Houbolt in more detail however it is noted
that it is necessary to factorize the stiffness matrix
(implicit
method)
noted that
it is necessary to factorize the stiffness matrix (implicit
method)
12
2
C + K t +t U =
2 M+
6t
t
3
3 t t
1 t 2 t
5
4
1
t +t
R + 2 M + C t U 2 M +
C U + 2 M +
C
U
t
t
t
t
t
2
3
39
Di t Integration
Direct
I t
ti Methods
M th d
The
Wilson
Method
Th Wilson
The
Wil
method
h d
In this method the acceleration is assumed to vary linearly from
time t to t + t
t +
= t U
+ ( t +t U
t U
)
U
t
By integration we obtain
t +
t +
2
= tU
+ tU
+ ( t +t U
t U
)
U
2t
+ 1 tU
2 + 1 3 ( t +t U
t U
)
U = tU+ tU
2
6t
40
The Wilson
Th Wilson
The
Wil Method
method
h d
Setting = t we get
t +t
t +t
= tU
+ t ( t +t U
+ t U
)
U
2
t + 1 (t )2 ( t +t U
+ 2 t U
)
U = tU+ tU
6
from
which we can solve
Swiss Federal Institute of Technology
Page 24
t +t
t +t
t
) d6 t t U 2 t U
Di U t= Integration
Direct
I(tt )2 ( ti U Methods
M Uth
3 t +t
t +t
=
( Uh tdU ) 2 t U 2 t t U
Th UWilson
The
Wil
t method
t +t
t +t
=
U
(t )
t +t
U t U)
2t U
U
= 3 ( t +t U t U ) 2 t U
t t U
U
2
t
Method of We
Finitenow
Elements
II
solve
t +t
R = t R + ( t +t R t R )
Institute of Structural Engineering
41
Implicit Procedure!
Institute of Structural Engineering
42
The
Di Wilson
Direct
t Integration
I t Method
ti Methods
M th d
Solution Procedure
Th Wilson
The
Wil
method
h d : Solution
S l i
procedure:
d
= t R + ( t +t R t R ) + M (a t U + a t U
+ 2t U
)
R
0
2
t
t
t
+C(a U + 2 U + a U)
1
t +t
t +t
43
Th Newmark
The
N
k method
h d
The Newmark method may be seen as an extension of the Wilson
This
method
method may be seen as an extension of the Wilson method
t +t
t +t
= tU
+ (1 ) t U
+ t +t U
t
U
t + ( 1 ) t U
+ t +t U
t 2
U = tU+ tU
2
=0.5,
= 1/6and
corresponds
accuracy
stability to the linear acceleration method which
also correspond to the Wilson method with = 1
44
where
45
46
Di Newmark
Direct
t IIntegration
t
tiMethod
Methods
M th d
The
Solution Procedure
LDLT t +t U = t +t R
3) Solve for the corresponding velocities and accelerations
= a ( t +t U t U) a t U
a tU
U
0
2
3
t +
t
t
t +
t
t
U = U+a
U+a U
t +t
47
Example
6
Newmark_U1
Newmark_U2
k1 = 4
CentralDifference_U1
CentralDifference_U2
m1 = 2
U 1 ,U1 ,U1
k2 = 2
m2 = 1
2
U 2 ,U 2 ,U2
R1 = 0
R2 = 10
k3 = 2
0
0
0.5
1.5
2.5
3.5
48
Di t Integration
Direct
I t
ti Methods
M th d
The Newmark
Method
Example
The Newmark method
m1 = 2
U 1 ,U1 ,U1
U 2 ,U 2 ,U2
Newmark_U2
R2 = 1
k3 = 2
t = 28
Newmark_U1
_
k2 = 2
m2 = 1
: Example:
R1 = 0
4
3
= 0
U
10
2
1
0
0
05
0.5
15
1.5
25
2.5
35
3.5
3.5
Newmark_U1
t = 28
Newmark_U2
2.5
2
1.5
= 0
U
0
1
0.5
0
0 Elements
0.5
Method of Finite
II
1.5
2.5
3.5
49
50
k1
c1
k2 ( x2 x1 )
m1
m2
c2 ( x2 x1 )
c1 x1
c1
x1 ( t )
F2 ( t )
k2 ( x2 x1 )
k1 x1
m2
m1
F1 ( t )
FBD
F2 ( t )
k2
c2 ( x2 x1 )
x2 ( t )
0
0
1
0
x1
0
x2
0
0
1
x =
x 1
m1 k
m1 c
x 2
Institute of Structural Engineering
0 0
0 0 F1
+
1 F2
m
x = Ax + Bu
where u =
F1 F2
T
1
0
y=
0
0
0
1
0
0
0
0
0
0
x1
0
0 x2
0 x3
0
x4
+ O42 u(t)
y = Cx + Du
Institute of Structural Engineering
k1 = hf (tn , yn ),
yn+1
X(t)
M
+C
+ KX(t)
= R(t)
= PT MP C
= PT CP K
= PT KP R
= PT R
where M
are the transformed matrices corresponding to a smaller bandwidth
than the original system.
Institute of Structural Engineering
(1)
(eigenproblem)
Method of Finite Elements II
2
;
= 1 , 2 , ... n ; 2 =
...
n
we can write the n solutions to the eigenproblem as:
M2 = K
Properties of Eigenvectors
Solution of the Eigenproblem
2 M + K = 0
(eigenproblem)
10
Properties of Eigenvectors
M-Orthonormality
From Matrix Properties we know that (AB)T = B T AT ,
Thus, for two eigenvectors n , r we obtain:
(Tn Kr )T = Tr KT n
Since the Stiffness matrix is symmetric, K = KT , hence
(Tn Kr )T = Tr Kn
The same applies for the Mass matrix, M = MT , yielding:
(Tn Mr )T = Tr Mn
11
Properties of Eigenvectors
M-Orthonormality
The eigenproblem for vector n then can be written as:
r2 Tn Mr = Tn Kr
transpose
r2 Tr Mn = Tr Kn
and the eigenproblem for vector n is: The eigenproblem for vector n
then can be written as:
n2 Tr Mn = Tr Kn
By subtracting the two previous formulas we obtain:
(r2 n2 )Tr Mn = 0
Tr Mn = 0,
Tr Mn = 0,
12
Properties of Eigenvectors
M-Orthonormality
We choose n , such that:
T M = I
therefore from M2 = K we have that:
T K = 2
The principle of M-orthonormality can
1,
T
r Mn =
0,
2
n ,
Tr Kn =
0,
13
X(t)
+ T CX(t)
+ 2 X(t) = T R(t)
where using the property of M-orthonormality, the initial conditions
will be:
0
X = T M0 U;
= T M0 U
X
14
xi = Ti M0 U;
x i = Ti M0 U
15
16
Complete Response
The solution of all n SDOF equations are calculated and the finite
element nodal point displacements are obtained by superposition of
the response in each mode:
U(t) = X(t) U(t) =
n
X
i xi (t)
i=1
17
Superposition Principle
An alternative View
Superposition
AdynamicloadcanbedesignedasFourierseries
A dynamic
load can be designed as
Fourier series of harmonic sine and cosine
contributions
Thetotalsolutionofsuchaproblemisequalto
The total
solution of such a problem is
thesuperpositionofsolutionoftheFourierterms.
equal to the superposition of solution of
the Fourier terms.
n
X
i xi (t)
i=1
13.11.2009
ModeSuperposition
11
18
Problemswithneglecteddampi
modes with
large is
negligible
For
close to zero the
ModeSuperposition
19
Pag
Di t Integration
Direct
I t
ti Methods
M th d
Calculate the displacement response of the system
k1 = 4
m1 = 2
U1 ,U1 ,U1
k2 = 2
m2 = 1
U 2 ,U 2 ,U2
R1 = 0
2 0 U1 6 2 U1 0
0 1 + 2 4 U = 10
U 2
2
R2 = 10
k3 = 2
20
n2 Mn
= Kn
n2
2, 0
0 1
=
2
4
6,
2
n
Eigenvalue Calculation
2
K n2 M
= 0
6 2n ,
2
196 160
=
= 2,
4
Eigenvector Calculation
12
14
2
4
2
2
= 2n 14n + 20 = 0
4 1n
K 12 M 1 = 0
2,
2
2
2
22
11
12
14 +
196 160
=5
4
=0
11
12
=
1
1
21
2 3
2
T1 M1 = 1 2 (m1 + m2 ) = 1 =
Hence,
3
1 = 1
Similarly, 2 =
X(t)
+ 2 X(t) = T R(t)
1
2, 0
3
X(t)
+
X(t) =
2
0 5
2 3
1
3 0
2 10
22
r
x
2 + 5x2 = 10
2
3
Initial Conditions
U(0) = 0
U(0)
=0
x1 (0) = 0,
and
xi (0) = Ti MU(0)
x i (0) = T MU(0)
i
x 1 (0) = 0,
x2 (0) = 0,
x 2 (0) = 0
5
2
x1 = (1 cos 2t) x2 = 2
(1 + cos 5t)
3
3
And the total solution is:
U(t) =
n
X
i xi (t)
i=1
Institute of Structural Engineering
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Note
In this case we dealt with a 2DOF example and used an analytical
solution to solve the two decoupled SDOF system equations
In practice for multi degree of freedom systems, higher modes are
neglected and instead of an analytical solution we again use a Direct
Integration scheme to solve for each SDOF ODE
In essence the finally achieved accuracy might be the same between
the two approaches, however teh mode superposition method usually
requires for less computational cost
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X(t)
+ T CX(t)
+ 2 X(t) = T R(t)
Ti Cj = 2i i ij
(2)
26
i 0
o
+ ei i t (i sin
i t + i cos
i t)
where
i = i
q
1 i2
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i = 1, 2 Rayleigh
C = M + K
(3)
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Measuring Damping
Logarithmic decrement method can be used to measure damping in time
domain. In this method, the free vibration displacement amplitude history of a
system to an impulse is recorded. Logarithmic decrement is the natural
logarithmic value of the ratio of two adjacent peak values of displacement in free
decay vibration.
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