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This chapter discusses the various geometrically nonlinear options available, including large strain, large
deflection, stress stiffening, pressure load stiffness, and spin softening. Only elements with displacements
degrees of freedom (DOFs) are applicable. Not included in this section are multi-status elements (such
as COMBIN40, discussed in Element Library (p. 411)) and the eigenvalue buckling capability (discussed
in Buckling Analysis (p. 792)).
The following topics are available:
3.1. Understanding Geometric Nonlinearities
3.2. Large Strain
3.3. Large Rotation
3.4. Stress Stiffening
3.5. Spin Softening
3.6. General Element Formulations
3.7. Constraints and Lagrange Multiplier Method
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3.2.1. Theory
The theory of large strain computations can be addressed by defining a few basic physical quantities
(motion and deformation) and the corresponding mathematical relationship. The applied loads acting
on a body make it move from one position to another. This motion can be defined by studying a position
vector in the deformed and undeformed configuration. Say the position vectors in the deformed
and undeformed state are represented by {x} and {X} respectively, then the motion (displacement)
vector {u} is computed by (see Figure 3.1: Position Vectors and Motion of a Deforming Body (p. 30)):
=
(3.1)
Figure 3.1: Position Vectors and Motion of a Deforming Body
{u}
{X}
{x}
Undeformed
Deformed
which can be written in terms of the displacement of the point via Equation 3.1 (p. 30) as:
= +
(3.2)
(3.3)
where:
[I] = identity matrix
The information contained in the deformation gradient [F] includes the volume change, the rotation
and the shape change of the deforming body. The volume change at a point is
(3.4)
where:
30
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Large Strain
Vo = original volume
V = current volume
det [ ] = determinant of the matrix
The deformation gradient can be separated into a rotation and a shape change using the right polar
decomposition theorem:
=
(3.5)
where:
[R] = rotation matrix ([R]T[R] = [I])
[U] = right stretch (shape change) matrix
Once the stretch matrix is known, a logarithmic or Hencky strain measure is defined as:
=
(3.6)
([] is in tensor (matrix) form here, as opposed to the usual vector form {}). Since [U] is a 2nd order
tensor (matrix), Equation 3.6 (p. 31) is determined through the spectral decomposition of [U]:
(3.7)
where:
i = eigenvalues of [U] (principal stretches)
{ei} = eigenvectors of [U] (principal directions)
The polar decomposition theorem (Equation 3.5 (p. 31)) extracts a rotation [R] that represents the average
rotation of the material at a point. Material lines initially orthogonal will not, in general, be orthogonal
after deformation (because of shearing), see Figure 3.2: Polar Decomposition of a Shearing Deformation (p. 31). The polar decomposition of this deformation, however, will indicate that they will remain
orthogonal (lines x-y' in Figure 3.2: Polar Decomposition of a Shearing Deformation (p. 31)). For this
reason, non-isotropic behavior (e.g. orthotropic elasticity or kinematic hardening plasticity) should be
used with care with large strains, especially if large shearing deformation occurs.
Figure 3.2: Polar Decomposition of a Shearing Deformation
y'
x
x'
Undeformed
Deformed
3.2.2. Implementation
Computationally, the evaluation of Equation 3.6 (p. 31) is performed by one of two methods using the
incremental approximation (since, in an elastic-plastic analysis, we are using an incremental solution
procedure):
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31
(3.8)
with
! = !
(3.9)
where [Un] is the increment of the stretch matrix computed from the incremental deformation
gradient:
=
(3.10)
(3.11)
[Fn] is the deformation gradient at the current time step and [Fn-1] is at the previous time step.
(Hughes([156] (p. 929))) uses the approximate 2nd order accurate calculation for evaluating Equation 3.9 (p. 32):
=
(3.12)
where [R1/2] is the rotation matrix computed from the polar decomposition of the deformation gradient
evaluated at the midpoint configuration:
(3.13)
=
where [F1/2] is (using Equation 3.3 (p. 30)):
=
(3.14)
(3.15)
{un} is the current displacement and {un-1} is the displacement at the previous time step. [n] is the
rotation-neutralized strain increment over the time step. The strain increment
from the midpoint configuration:
[ ]
is also computed
(3.16)
{un} is the displacement increment over the time step and [B1/2] is the strain-displacement relationship
evaluated at the midpoint geometry:
=
(3.17)
This method is an excellent approximation to the logarithmic strain if the strain steps are less than
~10%. This method is used by the standard 2-D and 3-D solid and shell elements.
The computed strain increment [n] (or equivalently {n}) can then be added to the previous strain
{n-1} to obtain the current total Hencky strain:
32
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Large Strain
= +
(3.18)
This strain can then be used in the stress updating procedures, see Rate-Independent Plasticity (p. 64)
and Rate-Dependent Plasticity (Including Creep and Viscoplasticity) (p. 105) for discussions of the rateindependent and rate-dependent procedures respectively.
=
(3.19)
where:
= coefficient of thermal expansion
= current length
T = temperature
Rearranging Equation 3.19 (p. 33) gives:
(3.20)
(3.21)
where:
= logarithmic strain
o = initial length
Differential of Equation 3.21 (p. 33) yields:
(3.22)
Comparison of Equation 3.20 (p. 33) and Equation 3.22 (p. 33) gives:
=
(3.23)
(3.24)
where:
= initial (reference) strain at temperature T
o
To = reference temperature
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(3.25)
The thermal strain corresponds to the logarithmic strain. As an example problem, consider a line element
of a material with a constant coefficient of thermal expansion . If the length of the line is o at temperature To, then the length after the temperature increases to T is:
=
(3.26)
Now if one interpreted the thermal strain as the engineering (or nominal) strain, then the final length
would be different.
=
(3.27)
where:
e = engineering strain
The final length is then:
= + = +
(3.28)
(3.29)
because
(3.30)
(3.31)
has the form:
(3.32)
(3.33)
[Bi] is the strain-displacement matrix in terms of the current geometry {Xn} and [Di] is the current stressstrain matrix.
[Si] is the stress stiffness (or geometric stiffness) contribution, written symbolically as:
=
34
(3.34)
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Large Rotation
where [Gi] is a matrix of shape function derivatives and [i] is a matrix of the current Cauchy (true)
stresses {i} in the global Cartesian system. The Newton-Raphson restoring force is:
"
(3.35)
Some of the plane stress and shell elements account for the thickness changes due to the out-of-plane
strain z using an approach similar to that of Hughes and Carnoy ([157] (p. 929)). Shells, however, do not
update their reference plane (as might be required in a large strain out-of-plane bending deformation);
the thickness change is assumed to be constant through the thickness. General element formulations
using finite deformation are developed in General Element Formulations (p. 50) and apply to currenttechnology elements only.
3.3.1. Theory
Large Strain (p. 29) presented the theory for general motion of a material point. Large-rotation theory
follows a similar development, except that the logarithmic strain measure (Equation 3.6 (p. 31)) is replaced
by the Biot, or small (engineering) strain measure:
(3.36)
where:
[U] = stretch matrix
[I] = 3 x 3 identity matrix
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3.3.2. Implementation
A corotational (or convected coordinate) approach is used in solving large-rotation/small-strain problems
(Rankin and Brogan([66] (p. 924))). "Corotational" may be thought of as "rotated with". The nonlinearities
are contained in the strain-displacement relationship which for this algorithm takes on the special form:
(3.37)
where:
[Bv] = usual small strain-displacement relationship in the original (virgin) element coordinate
system
[Tn] = orthogonal transformation relating the original element coordinates to the convected
(or rotated) element coordinates
The convected element coordinate frame differs from the original element coordinate frame by the
amount of rigid body rotation. Hence [Tn] is computed by separating the rigid body rotation from the
total deformation {un} using the polar decomposition theorem, Equation 3.5 (p. 31). From Equation 3.37 (p. 36), the element tangent stiffness matrix has the form:
(3.38)
= #
(3.39)
(3.40)
3. After the rotational increments in {u} are computed, update the node rotations appropriately. All three
steps require the concept of a rotational pseudovector in order to be efficiently implemented (Rankin
and Brogan([66] (p. 924)), Argyris([67] (p. 924))).
36
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Large Rotation
Figure 3.3: Element Transformation Definitions
Xn
Current Configuration
[Tn ]
Yn
Yv
[Rn ]
Xv
Original Configuration
[Tv ]
[Tn] can be computed directly or the rotation of the element coordinate system [Rn] can be computed
and related to [Tn] by
(3.41)
where [Tv] is the original transformation matrix. The determination of [Tn] is unique to the type of element
involved, whether it is a solid element, shell element, beam element, or spar element.
Solid Elements. The rotation matrix [Rn] for these elements is extracted from the displacement field
using the deformation gradient coupled with the polar decomposition theorem (see Malvern([87] (p. 925))).
Shell Elements. The updated normal direction (element z direction) is computed directly from the
updated coordinates. The computation of the element normal is given in Element Library (p. 411)
for each particular shell element. The extraction procedure outlined for solid elements is used
coupled with the information on the normal direction to compute the rotation matrix [Rn].
Beam Elements. The nodal rotation increments from {u} are averaged to determine the average
rotation of the element. The updated average element rotation and then the rotation matrix [Rn] is
computed using Rankin and Brogan([66] (p. 924)). In special cases where the average rotation of the
element computed in the above way differs significantly from the average rotation of the element
computed from nodal translations, the quality of the results will be degraded.
Link Elements. The updated transformation [Tn] is computed directly from the updated coordinates.
Generalized Mass Element (MASS21). The nodal rotation increment from {u} is used to update the
element rotation which then yields the rotation matrix [Rn].
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(3.43)
where:
(3.44)
This relative rotation contains the rotational deformations of that node as shown in Figure 3.4: Definition of Deformational Rotations (p. 39).
3. Extract the nodal rotational deformations {ud} from [Td].
Because of the definition of the pseudovector, the deformational rotations extracted in step 3 are limited
to less than 30, since 2sin( /2) no longer approximates itself above 30. This limitation only applies
to the rotational distortion (i.e., bending) within a single element.
38
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Large Rotation
Figure 3.4: Definition of Deformational Rotations
Y
[Rn ]
[Td ]
[T n ]
X
3.3.5. Updating Rotations
Once the transformation [T] and deformational displacements {ud} are determined, the element matrices
Equation 3.38 (p. 36) and restoring force Equation 3.39 (p. 36) can be determined. The solution of the
system of equations yields a displacement increment {u}. The nodal rotations at the element level are
updated with the rotational components of {u}. The global rotations (in the output and on the results
file) are not updated with the pseudovector approach, but are simply added to the previous rotation
in {un-1}.
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"
(3.45)
where:
N = number of total elements
(
= element internal force vector in the element coordinate system, generally see Equation 3.46 (p. 40)
[Tn]T = transform matrix transferring the local internal force vector into the global coordinate
system
= applied load vector at the element level in the global coordinate system
(3.46)
Hereafter, we shall focus on the derivation of the consistent tangent matrix at the element level without
introducing an approximation. The consistent tangent matrix is obtained by differentiating Equation 3.45 (p. 40) with respect to displacement variables {ue}:
;;
(3.47)
It can be seen that Part I is the main tangent matrix Equation 3.38 (p. 36) and Part II is the stress stiffening matrix (Equation 3.34 (p. 34), Equation 3.61 (p. 45) or Equation 3.64 (p. 45)). Part III is another
part of the stress stiffening matrix (see Nour-Omid and Rankin([175] (p. 930))) traditionally neglected in
the past. However, many numerical experiments have shown that Part III of
is essential to the
of symmetrizing
is invoked.
As Part III of the consistent tangent matrix utilizes the internal force vector
40
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Stress Stiffening
(Part I). This can normally be guaranteed if the realistic material and geometry are used, that is, the
element is not used as a rigid link and the actual thicknesses are input.
It is also noted that the consistent tangent matrix Equation 3.47 (p. 40) is very suitable for use with the
arc-length solution method.
3.4.2. Theory
The strain-displacement equations for the general motion of a differential length fiber are derived below.
Two different results have been obtained and these are both discussed below. Consider the motion of
a differential fiber, originally at dS, and then at ds after deformation.
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41
{u + du}
dS
ds
{u}
Y
X
One end moves {u}, and the other end moves {u + du}, as shown in Figure 3.5: General Motion of a
Fiber (p. 42). The motion of one end with the rigid body translation removed is {u + du} - {u} = {du}.
{du} may be expanded as
(3.48)
where u is the displacement parallel to the original orientation of the fiber. This is shown in Figure 3.6: Motion of a Fiber with Rigid Body Motion Removed (p. 43). Note that X, Y, and Z represent global Cartesian
axes, and x, y, and z represent axes based on the original orientation of the fiber. By the Pythagorean
theorem,
=
(3.49)
42
= +
"
"
"
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(3.50)
Stress Stiffening
Figure 3.6: Motion of a Fiber with Rigid Body Motion Removed
dv
dw
du
x
y
dS
{du}
ds
= +
(3.51)
+ + +
(3.52)
= +
(3.53)
when A2 < 1. One should be aware that using a limited number of terms of this series may restrict its
applicability to small rotations and small strains. If the first two terms of the series in Equation 3.53 (p. 43)
are used to expand Equation 3.52 (p. 43),
= +
+ +
(3.54)
The resultant strain (same as extension since strains are assumed to be small) is then
= =
+ +
(3.55)
If, more accurately, the first three terms of Equation 3.53 (p. 43) are used and displacement derivatives
of the third order and above are dropped, Equation 3.53 (p. 43) reduces to:
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43
+
= +
(3.56)
" "
(3.57)
For most 2-D and 3-D elements, Equation 3.55 (p. 43) is more convenient to use as no account of the
loaded direction has to be considered. The error associated with this is small as the strains were assumed
to be small. For 1-D structures, and some 2-D elements, Equation 3.57 (p. 44) is used for its greater accuracy and causes no difficulty in its implementation.
3.4.3. Implementation
The stress-stiffness matrices are derived based on Equation 3.34 (p. 34), but using the nonlinear straindisplacement relationships given in Equation 3.55 (p. 43) or Equation 3.57 (p. 44) (Cook([5] (p. 921))).
For a spar, the stress-stiffness matrix is given as:
[ ]=
(3.58)
The stress stiffness matrix for a 2-D beam is given in Equation 3.59 (p. 44), which is the same as reported
by Przemieniecki([28] (p. 922)). All beam and straight pipe elements use the same type of matrix. Forces
used by straight pipe elements are based on not only the effect of axial stress with pipe wall, but also
internal and external pressures on the "end-caps" of each element. This force is sometimes referred to
as effective tension.
()
where:
F = force in member
L = length of member
44
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(3.59)
Stress Stiffening
The stress stiffness matrix for 2-D and 3-D solid elements is generated by the use of numerical integration.
A 3-D solid element (SOLID185) is used here as an example:
(3.60)
where the matrices shown in Equation 3.60 (p. 45) have been reordered so that first all x-direction DOF
are given, then y, and then z. [So] is an 8 by 8 matrix given by:
! = !
(3.61)
(3.62)
where x, xy etc. are stress based on the displacements of the previous iteration, and,
(3.63)
where Ni represents the ith shape function. This is the stress stiffness matrix for small strain analyses.
For large-strain elements in a large-strain analysis (NLGEOM,ON), the stress stiffening contribution is
computed using the actual strain-displacement relationship (Equation 3.6 (p. 31)).
One further case requires some explanation: axisymmetric structures with nonaxisymmetric deformations.
As any stiffening effects may only be axisymmetric, only axisymmetric cases are used for the prestress
case. Axisymmetric cases are defined as (input as MODE on MODE command) = 0. Then, any subsequent load steps with any value of (including 0 itself ) uses that same stress state, until another,
more recent, = 0 case is available. Also, torsional stresses are not incorporated into any stress stiffening
effects.
Specializing this to SHELL61 (Axisymmetric-Harmonic Structural Shell), only two stresses are used for
prestressing: s, , the meridional and hoop stresses, respectively. The element stress stiffness matrix
is:
(3.64)
=
= 6
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(3.65)
45
(3.66)
where:
=
>
The three columns of the [As] matrix refer to u, v, and w motions, respectively. As suggested by the
definition for [Sm], the first two rows of [As] relate to s and the second two rows relate to . The first
row of [As] is for motion normal to the shell varying in the s direction and the second row is for hoop
motions varying in the s direction. Similarly, the third row is for normal motions varying in the hoop
direction. Thus Equation 3.57 (p. 44), rather than Equation 3.55 (p. 43), is the type of nonlinear straindisplacement expression that has been used to develop Equation 3.66 (p. 46).
(3.67)
where:
46
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Spin Softening
Pcr = critical buckling load
E = Young's modulus
I = moment of inertia
R = radius of the ring
C = 3.0
This value of C = 3.0 is achieved when using [Spr], but when it is missing, C = 4.0, a 33% error.
For eigenvalue buckling analyses, all elements with pressure load stiffness capability use that capability.
Otherwise, its use is controlled by KEY3 on the SOLCONTROL command.
[Spr] is derived as an unsymmetric matrix. Symmetricizing is done, unless the command NROPT,UNSYM
is used. Processing unsymmetric matrices takes more running time and storage, but may be more
convergent.
order terms (e.g. in the strain computation. Also, nodal and reaction loads (output quantities
F and M) will reflect the stress stiffness contribution, so that moment and force equilibrium include the
higher order (small rotation) effects.
(3.68)
where:
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47
K
M
r
However, to account for large-deflection effects, Equation 3.68 (p. 47) must be expanded to:
=
(3.69)
Rearranging terms,
"
= "
(3.70)
Defining:
=
(3.71)
and
=
(3.72)
(3.73)
is the stiffness needed in a small deflection solution to account for large-deflection effects. is the
same as that derived from small deflection logic. This decrease in the effective stiffness matrix is called
spin (or centrifugal) softening. See also Carnegie([104] (p. 926)) for additional development.
Extension of Equation 3.71 (p. 48) into three dimensions is illustrated for a single noded element here:
=
(3.74)
with
+
where:
48
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(3.75)
Spin Softening
x, y, z = x, y, and z components of the angular velocity (input with OMEGA or CMOMEGA
command)
It can be seen from Equation 3.74 (p. 48)and Equation 3.75 (p. 48) that if there are more than one nonzero component of angular velocity of rotation, the stiffness matrix may become unsymmetric. For example, for a diagonal mass matrix with a different mass in each direction, the
symmetric with the expression in Equation 3.74 (p. 48) expanded as:
= +
(3.76)
$$
= $$ +
$$
(3.77)
= +
(3.78)
= +
(3.79)
= +
(3.80)
= +
(3.81)
= +
(3.82)
= +
(3.83)
= +
(3.84)
where:
Kxx, Kyy, Kzz = x, y, and z components of stiffness matrix as computed by the element
Kxy, Kyx, Kxz, Kzx, Kyz, Kzy = off-diagonal components of stiffness matrix as computed by the
element
= GH HGHH GK
HG K H HG
From Equation 3.76 (p. 49) thru Equation 3.84 (p. 49), it may be seen that there are spin softening effects
only in the plane of rotation, not normal to the plane of rotation. Using the example of a modal analysis,
Equation 3.71 (p. 48) can be combined with Equation 15.49 (p. 779) to give:
(3.85)
or
(3.86)
where:
= the natural circular frequencies of the rotating body.
If stress stiffening is added to Equation 3.86 (p. 49), the resulting equation is:
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49
(3.87)
Stress stiffening is normally applied whenever spin softening is activated, even though they are independent theoretically. The modal analysis of a thin fan blade is shown in Figure 3.8: Effects of Spin
Softening and Stress Stiffening (p. 50).
Figure 3.8: Effects of Spin Softening and Stress Stiffening
100
90
80
70
60
50
40
30
D
A
20
10
0
40
50
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(3.88)
where:
ij = Cauchy stress component
+. .+ .
ui = displacement
xi = current coordinate
(3.89)
where:
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51