Nonlinear FEM

13

CR Formulation
Overview I

NFEM Ch 13 Slide 1

Nonlinear FEM

Kinematic Description
Corotated C R
Deformed (current,
D
spatial) C

Deformational
motion

Motion splits into

deformational and rigid
Base (initial, undeformed,
material) configuration C 0

Rigid body motion

Global
frame

NFEM Ch 13 Slide 2

Rigid + Deformational Split Con

Comes From Several Source

Continuum mechanics
Vehicle guidance (esp. aerospace)
Mechanisms (esp. robotics)
Convected coordinates (flow-like beha
Geometrically nonlinear Finite Elemen

NFEM Ch 13 Slide 3

Nonlinear FEM

Concept Applied to Motion of Whole Structure

Corotated (a.k.a.
dynamic reference) frame

CR

PR

Corotated (shadow)
configuration C R
Deformed configuration C D
(Shown separate from C R for
visualization convenience)
P0
Base (a.k.a. inertial) frame

C0

Base (initial) configuration C 0

NFEM Ch 13 Slide 4

Nonlinear FEM

Concept Applied to Motion of Individual Element

Deformed (bar)

Deformed (beam)

Deformed (membrane)

Deformed (shell)

;
;;
;;;;

Base

Base

NFEM Ch 13 Slide 5

Nonlinear FEM

Element Independent Corotational (EICR)

Formulation Allows Element Reuse

Assembler

Global element
equations

Incorporate
rigid body
motions

Deformational
element
equations

Form element
mass, stiffness
& forces

System equations
of motion

Solver
Total
displacements

Extract
deformational
motions

Deformational
displacements

CR "Filters"

NFEM Ch 13 Slide 6

Evaluate
element
stresses

Finite Element
Library

Nonlinear FEM

CR Mathematics Is Hairy

Shadowing problem: polar decomposition

Rotations in 3D (do not commute)
Projectors
Rotational variations: spin
Nonconservative internal forces ->
unsymmetric stiffness matrices

NFEM Ch 13 Slide 7

Nonlinear FEM

Triangle Moving in Two Dimensions

C is element centroid in statics, Deformed (current)

Base
udP
but center of mass in dynamics.
(initial,
R
P P R xPC
undeformed)
uP
CR C
R
0
_
uP
P0
xPC
xP
x2
c
C0
xPR
X
,x
0
2
2
xP
b
Corotated
a
~
~
O
x1
~
//x 1
//x 2
X1,x1
~
_
x2 global frame
x 1 element
element
(with material & rigid body
base frame
CR frame
spatial coalesced) rotation

NFEM Ch 13 Slide 8

Nonlinear FEM

How Rotations Come In

R
(depends on P)
P0
C0

C R _C

x2

c
T0T

x~1
element
base frame

deformational
rotation Rd
(a "drilling
rotation" in 2D)

a
x~2
R0

X2,x2

TRT

O global X1,x1
frame

NFEM Ch 13 Slide 9

element
_ CR frame

x1

Nonlinear FEM

Aligned (Extra) Configuration As Intermediary

(a)

(b)

x~ 1
x~

CR

C0

_
x2

(fixed)

(fixed)

_
x1

X1, x1

CR

c
a

X2, x2

CG

C0

(moving)

CG

(c)
CD
C0
CR
CG

NFEM Ch 13 Slide 10

Nonlinear FEM

Rotations Do Not Commute

(But Transpose = Inverse)
R0T
element
base frame
~
X

T0

TT0

R0

element
CR frame
_
x

TR
global
frame
X, x

NFEM Ch 13 Slide 11

TRT

Nonlinear FEM

Cofiguration Variations (Perturbations

of the Current Configuration) Appear
(a)

Corotated CR

Deformed CD

Perturbed C D + C
_
x2

x
D

_
u2j

C + C

_
x2

xDa

_
x1
a

x aD
Perturbed C D + C

_
x3

CR C

perturbed a
C + C

(b)

Instantaneous
rotation axis

_
3

CR

_
x1
C _
x3 (+up)
Corotated CR

iR
_ D
v a (includes
D
displacements u2i i _ Deformed C
_ u1i
and spins)
L
u3i (+up)

NFEM Ch 13 Slide 12

jR

jD _ u1j
u3j(+up)

Nonlinear FEM

And Projectors

_ _
HPT

CR deformational
displac_& rotations
_
ud , d

_ rotation-toH spin Jacobian

CR deformational
displac
_ & _spins
ud , d

global total
displac & spins
u,
global-to-CR
frame rotator

Projector

_ _ _
P = Pu + P

CR total
displac
_ &_spins
u,

NFEM Ch 13 Slide 13

Nonlinear FEM

Rigid Displacement Matrix

Transformations

NFEM Ch 13 Slide 14

Nonlinear FEM

Rotational Matrix
Transformations

NFEM Ch 13 Slide 15

Nonlinear FEM

Spin (Rotation Variation)

Formulas

NFEM Ch 13 Slide 16

Nonlinear FEM

Seven EICR Matrices

P = Pu P

H L

A displacement projector matrix has typically the form

2D

3D

NFEM Ch 13 Slide 17

Nonlinear FEM

EICR Matrices (2)

The spin-lever matrix S in 3D has the form

NFEM Ch 13 Slide 18

Nonlinear FEM

EICR Matrices (3)

Spin level matrix details

NFEM Ch 13 Slide 19

Nonlinear FEM

EICR Matrices (4)

The spin fitter matrix G is defined as

Links variations in element spin (instantaneous rotations)

at the centroid of the deformed configuration is response
to variations in nodal DOF

NFEM Ch 13 Slide 20

Nonlinear FEM

EICR Matrices (5)

Matrices G and S satisfy a biorthogonality property
GS = D

in which D is a diagonal matrix of zeros and ones.

The rotational projector is defined as
P = S G

The projector matrix of element is

P = Pu P

Two more EICR matrices, H and L are introduced

in the course Notes.

NFEM Ch 13 Slide 21

Nonlinear FEM

CR Element Formulation

Using the EICR tools, next class we will outline the

formulation of a CR element:
internal forces -> tangent stiffness

NFEM Ch 13 Slide 22