R14.

5 Mechanical

14. 5 Release

Material Enhancements
John Doyle - ANSYS Technical Support

July 19, 2013 1 Release 14.5

 What is new in R145
MAPDL
• Curve fitting for Combined hardening
• TBFIELD Enhancement

WB-Engineering Data –new material model options

• Shape Memory Alloy
• Mullins Effect
• Ogden Foam model
• Extended Tube

July 19, 2013 2 Release 14.5

Curve Fitting for Combined Hardening

14. 5 Release

MAPDL Material Enhancements

July 19, 2013 3 Release 14.5

 Curve Fitting for Combined Hardening
MAPDL Curve fitting Tool can be used to calculate material constants for Chaboche
nonlinear kinematic hardening model.
New in R14.5 Isotropic hardening can be combined with the kinematic hardening
model in the curve-fitting process.

July 19, 2013 4 Release 14.5

 Curve Fitting for Combined Hardening
... Review Yield Criterion
3
The von Mises yield criterion : F= s : s −σ y = 0
2
Where: s is the deviatoric stress tensor, σy is the uniaxial yield stress

If plotted in 3D principal stress space, the von Mises yield surface is cylinder.
σ1 σ

Plastic σy

Elastic ε

σ2 Principal Stress σ3 Uniaxial Stress-

Space Strain

No stress state can exist outside of the cylinder. Instead, hardening rules will
describe how the cylinder changes with respect to yielding.
July 19, 2013 5 Release 14.5
 Curve Fitting for Combined Hardening
... Review Hardening Rules
• There are two basic hardening rules to prescribe the modification of the yield
surface:

Subsequent Yield
σ2 Surface
– Kinematic hardening.
Initial Yield
• The yield surface remains constant
Surface
in size and translates in the
direction of yielding. σ1
Subsequent Yield
σ2 Surface
– Isotropic hardening.
Initial Yield
• The yield surface expands uniformly Surface
in all directions with plastic flow. σ1

July 19, 2013 6 Release 14.5

 Curve Fitting for Combined Hardening
... Review Linear Kinematic Hardening
For linear kinematic hardening, the yield surface translates as a rigid body
during plastic flow. 2
∆α = C∆ε pl
3
• An initially isotropic plastic behavior is no longer isotropic after yielding (kinematic
hardening is a form of anisotropic hardening)

• The elastic region is equal to twice the initial yield stress. This is called the
Bauschinger effect.
σ1 σ
Subsequent
Yield Surface
σ'

σy
2σy
α
Initial Yield
Surface ε

σ2 σ3
July 19, 2013 7 Release 14.5
 Curve Fitting for Combined Hardening
... Review Nonlinear Kinematic Hardening
The Chaboche Kinematic Hardening is a nonlinear kinematic hardening model.

The evolution law which defines the shifting of the yield surface has a
nonlinear term:

2
∆α i = Ci ∆ε pl − γ i α i λ
3 Where: εpl is equivalent plastic strain

σ1 σ λ is accumulated plastic strain.

Limiting
Yield
Surface
σ R

C/γγ
α
Limiting ε
value of
α}
{α}
σ2 σ3
Current
Yield
Surface

July 19, 2013 8 Release 14.5

 Curve Fitting for Combined Hardening
... Review Nonlinear Kinematic Hardening
The back stress α is a superposition of up to five kinematic models:
n
2 n 1 dCi &
α& = ∑ α& i = ∑ Ciε& − γ iα i λ +
pl
Tα i
i =1 3 i =1 Ci dT
Where:
n is the number of kinematic models to use
α is the back stress (location of the center of the yield surface).
Ci is constant that is proportional to hardening modulus
εpl is equivalent plastic strain
γi is a decay function parameter
λ is accumulated plastic strain.
T is temperature

• The Curve fitting tool can be used to calculate Ci and γi values from a set of stress-
strain test data.
July 19, 2013 9 Release 14.5
 Curve Fitting for Combined Hardening
... Review Nonlinear Kinematic Hardening
This figure breaks down the Chaboche model parameters and how they are
related to each other:
• n is 3, the number of kinematic models combined together.
• R is the yield stress (constant value)
• Values α1 – α3 are the back α+R

stresses calculated from the

R
previous equation. Constants α=α
α1 + α2+ α3
C1 – C3 and γ1 – γ3 are
associated with these values.
α2
• R describes the yield surface α3
whereas α describes the α1
shifting of the center of the R=160
yield surface. C1=80000, γ1=2000
C2=10000, γ2=200
• Note that γ3=0, so there is no C3=2500, γ3=0

limiting surface for α.

July 19, 2013 10 Release 14.5
 Curve Fitting for Combined Hardening
... Review Combined Hardening
The yield criterion is expressed as:

3
F= (s − α ) : (s − α ) − R = 0
Where:
2
s = deviatoric stress tensor
α = the back stress tensor (location of the center of the yield surface)
R = elastic domain radius
σy) or as an isotropic hardening
R can be defined either as a constant (σ
variable (BISO, MISO, or NLISO), resulting in Combined Hardening (the
translation AND expansion of the yield surface).
Combined Hardening is only available via APDL commands in WB-Mechanical.
Curve fitting routine supports both nonlinear kinematic hardening and
combined hardening

July 19, 2013 11 Release 14.5

 Curve Fitting for Combined Hardening
... Review Ratchetting & Shakedown
Ratchetting modeled
with Chaboche using:
0.07 2000
n=1
0.06 Ratchetting 1500 R=980,
0.05
1000
C1=224000
Plastic strain

Stress (MPa)
0.04 γ1 = 400
500
0.03
0
0.02

0.01
-500
σ
-1000
0.00

-1500
0 2 4 6 8 10 0.00 0.01 0.02 0.03 0.04 0.05 0.06 0.07

Time Plastic strain

t
0.008 2000

Shakedown 1500 Loading

0.006
1000
Controlled Stress
Plastic strain

Stress (MPa)

Unsymmetry
500
0.004
0

0.002
-500 Shakedown modeled with
-1000
Chaboche using:
n=2
0.000 -1500
0 2 4 6 8 10 0.000 0.002 0.004 0.006 R=980
0.008

Time Plastic strain C1=224000 , C2=20000

γ1=400, γ2=0
July 19, 2013 12 Release 14.5
 Curve Fitting for Combined Hardening
... Procedure
Navigate to the Chaboche Curve-fitting tools in MAPDL:
• Main Menu > Preprocessor > Material Props > Material Models
– Structural > Nonlinear > Inelastic > Curve Fitting

July 19, 2013 13 Release 14.5

 Curve Fitting for Combined Hardening
... Procedure
After selecting the Curve-Fitting module, input the prepared text file containing
the test data
• Use “Read From File” to specify the data file
• Use “Add DataSet” to enable reading multiple test data files

After selecting the

file, the contents
will be displayed
in the dialog box.
Select “Next” to
continue.
July 19, 2013 14 Release 14.5
 Curve Fitting for Combined Hardening
... Procedure
A text file containing Uniaxial test data should contain two columns of data,
plastic strain and true stress. The first line of the text file can be used to
designate temperature dependence, if applicable.
1.50E+03
Example input:
1.00E+03

5.00E+02

0.00E+00 Series1
0.00 0.05 0.10 0.15 0.20 0.25

-5.00E+02

-1.00E+03

-1.50E+03

For multiple temperatures, a separate text file is necessary for each discrete
temperature.

July 19, 2013 15 Release 14.5

 Curve Fitting for Combined Hardening
... Procedure
Select the plasticity model for curve fitting:
• Number of terms for kinematic hardening.
- Depends on the complexity of the curve.*
• Isotropic hardening model
- Usually needed for large strain cyclic applications

Reference: Rezaiee-Pajand, M.,Sinaie,S.; “On the calibration of the Chaboche hardening model
and a modified hardening rule for uniaxial ratcheting prediction”, International Journal of Solids
and Structures Vol. 46 ,pp. 3009–3017, 2009

July 19, 2013 16 Release 14.5

 Curve Fitting for Combined Hardening
... Procedure
Often the initial values chosen for your coefficients determines the success of
the curve-fitting operation

• Ci is proportional to tangent modulii. Evenly distributed estimates of the slope

over the range of the curve can be used as initial guesses for the curve-fitting
process.
• γi are decay function parameters. Initial guesses can typically be chosen one or two
orders less than odd coefficients .
• Different terms can dominate at different parts of the curve.
• Initial yield stress is generally estimated from separate experiments outside of
curve fitting and is generally fixed in the curve-fitting process.
July 19, 2013 17 Release 14.5
 Curve Fitting for Combined Hardening
... Procedure
Chaboche curve fitting uses a nonlinear regression process.
Only the non-normalized error norm is available.

The solution control parameters for nonlinear

regression include:
• number of iterations
• residual tolerance
• coefficient change tolerance.

After executing the ‘Solve’, the solution stops

when both residual tolerance of the error norm
and coefficient change tolerance is met, or if the
number of iterations criteria is met. The
coefficients are updated when the solution is
completed.

July 19, 2013 18 Release 14.5

 Curve Fitting for Combined Hardening
... Procedure
If the curve fitting is suitable, select “Save&Close”

July 19, 2013 19 Release 14.5

 Curve Fitting for Combined Hardening
... Procedure
When using “Save & Close,” the curve-fitting data is written into the MAPDL
database for the selected material property number.
• Once saved, the data can be reviewed from the Materials GUI dialogue box

July 19, 2013 20 Release 14.5

TBFIELD

14. 5 Release

MAPDL Material Enhancements

July 19, 2013 21 Release 14.5

 MAPDL– TBFIELD enhancement
For elastic (TB,ELASTIC) and thermal
expansion (TB,CTE) material models,
you can define your own field variables
(TBFIELD).

Use your field variables with initial state

loading to define a field of material
properties.

When you define your field variable as

node-based field data over the finite
element model with INISTATE , the
solver reads the initial-state data at the
nodes and determines the correct value
of the material property necessary for
performing the finite element
calculations.
The program uses linear interpolation between the nodal data points you provide to
determine specific material property values.
July 19, 2013 22 Release 14.5
 MAPDL– User defined field variables
Example input shows how to define Young’s Modulus as a function of
global Y using the elastic material model and the node-based initial
state capability:
TB,ELASTIC,1
TBFIELD,UF01,0.0
TBDATA,1,1e6,0.3
TBFIELD,UF01,10
TBDATA,1,1e7,0.3
!
! Define node-based field data (UF01) over the finite element model
INISTATE,SET,NODE,1
INISTATE,SET,DTYP,UF01
*GET,NumNodes,node,,num,max
*DO,iI,1,NumNodes
iExis=NSEL(iI)
*IF,iExis,eq,1,then
yval=NY(iI)
INISTATE,DEFINE,iI,,,,yval
*ENDIF
*ENDDO

July 19, 2013 23 Release 14.5

Shape Memory Alloy

14. 5 Release

WB-Mechanical
Material Enhancements

July 19, 2013 24 Release 14.5

 Shape Memory Alloy (SMA)
Shape memory alloy (SMA) "remembers" its original, cold-forged shape,
returning to the pre-deformed shape when heated.
- Can undergo large deformation without showing residual strains .
It has many applications in industries including medical and aerospace.

www.jmmedical.com

Nitinol (Nickel-Titanium alloy) is a type of shape memory alloy (SMA)

used in eyeglass frames, antennas, couplings, actuators, medical retrieval
devices and inserts

July 19, 2013 25 Release 14.5

 ... Shape Memory Alloy (SMA)
Two phases, austenite and martensite, are present in Nitinol:
• Austenite is usually stable at low stress
values and high temperatures

• Martensite is generally stable at high stress

values and low temperatures

• Martensite “plates” are formed within the austenite phase. The formation of these
martensite plates generally do not involve dislocation motion or diffusional flow.

• Consider the case of an elevated temperature where only austenite exists at the stress-
free state. If a material is loaded, the higher stress induces a phase change to
martensite (path ABC). Unloading will result in a reverse transformation from
martensite back to austenite with hysteresis (path CDA). This is the superelastic effect.

July 19, 2013 26 Release 14.5

 ... Shape Memory Alloy (SMA)
Two SMA simulation options available:
• Superelasticity - Phase transformation is based on stress only.
Although constants can be temperature-dependent, superelastic
effects are usually considered in the context of an isothermal
process.

• Shape memory effect - original shape restored after a thermal cycle.

Also due also to a phase transformation between martensite and
austenite.
Initial spacer Implanted in the spine
Compression

Complete implant Remove loading

Heating
elastic recovery
residual strain
recovery

July 19, 2013 27 Release 14.5

 ... SMA Superelasticity
The SMA Superelasticity model makes the following assumptions:
• Phase transformation is based on stress only. Although constants can be
temperature-dependent, superelastic effects are usually considered in the context of
an isothermal process.

• Accounts for austenite to martensite (A→S) and martensite to austenite (S→A) phase
transformations.

• Isotropic, rate-independent, and without inelastic strains.

• The elastic modulus, Poisson’s ratio, and coefficient of thermal expansion are
assumed to be the same for the fully transformed austenite and martensite phases.

July 19, 2013 28 Release 14.5

 ... SMA Superelasticity
The SMA Superelasticity material model keeps track of the
fraction of austenite ξA and martensite ξS present. ξS + ξ A = 1
• The sum should equal 1 (i.e., 100%) ξ&S + ξ&A = 0
• Superscripts “AS” designate the austenite-to-martensite
transformation (and “SA” the reverse), the fraction rates can be
expressed as:
ξ&S = ξ&SAS + ξ&SSA
• The first two equations reflect that fraction rate of one phase is ξ&A = ξ&AAS + ξ&ASA
based on the fraction rate during either transformation process ξ&AAS = −ξ&SAS
(S→A or A→S).
ξ&ASA = −ξ&SSA
• Remaining equations indicate that a fraction rate of one phase must
equal the other.

July 19, 2013 29 Release 14.5

 ... SMA Superelasticity
Although the transformation is assumed to be fully recoverable, the SMA
superelasticity equations are developed similar to plasticity models
• The transformation strains are considered separately, analogous to how inelastic
strains are considered in plasticity.

The transformation function is defined as follows:

F = q + 3αp
where q is the deviatoric stress, p is the hydrostatic pressure, and α is a
material parameter.
• This transformaƟon funcƟon is used for both transformaƟon processes (S→A or
A→S), so no superscript will be used.

July 19, 2013 30 Release 14.5

 ... SMA Superelasticity
The evolution of the martensite phase is expressed as:
F&
ξ&S = − H (1 − ξ S )
AS AS

F − σ fAS (1 + α )
for A→S transformaƟon with HAS defined as:
 σ sAS (1 + α ) < F < σ fAS (1 + α )
1 if 
H AS =  F& > 0
0 otherwise


where σASs and σASf are both material parameters.

An analogous relaƟonship exists for S→A transformaƟon:
F&
ξ&SSA = H SA (ξ S )
f (1 + α )
F − σ SA
 f (1 + α ) < F < σ s (1 + α )
σ SA SA
1 if 
H SA = &
F > 0
0 otherwise

July 19, 2013 31 Release 14.5
 ... SMA Superelasticity
Stress-strain relationship of SMA Superelasticity :
• The first slope (green) σ
is the 100% austenite phase and
is described by elastic modulus
σASf
• Transformation starts at a stress
σASs
sAS
level s and ends at sAS f when
100% is martensite.

• The last slope (purple)

is the 100% martensite phase εL
ε
and is also the elastic modulus

July 19, 2013 32 Release 14.5

 ... SMA Superelasticity
The unloading response is similar: σ

• At 100% martensite, the transformation

starts when the stress goes below sSAs.
• The transformation back to 100% austenite
σSAs
is complete at sSAf.
σSAf
• All strains are recovered for this isothermal
process.
εL ε

• The material parameter εL describes the maximum amount of transformation

strain.
– For Nitinol, this is typically between 0.07 and 0.10 (7-10%).
• The material parameter α discussed earlier affects the material response in tension
and compression.
– If tensile and compressive behaviors are the same, a=0.
– For Nitinol, this is usually taken to be around 0-0.1.

July 19, 2013 33 Release 14.5

 ... SMA Superelasticity
The SMA Superelasticity option is available from the Engineering Data

July 19, 2013 34 Release 14.5

 ... SMA Superelasticity
Young’s modulus and Poisson’s ratio are
required for this material model
• Describes the mechanical behavior of the
austenite and martensite phases

The SMA parameters can then be input

• The first four constants describe the starting
and final stress values of transformation
• The “epsilon” value is the maximum
transformation strain
• The “alpha” value affects the compressibility of transformation strain (i.e., degree of
which transformation strains are dependent on hydrostatic pressure)
– This parameter also produces different response in tension and compression

July 19, 2013 35 Release 14.5

 ... SMA Shape Memory Effect
The SMA - Shape memory effect is based on a 3-D thermo-mechanical model
for stress-induced solid phase transformations. The governing equations are
derived from an expression for free energy potential defined as:

Where:
D = Material elastic stiffness tensor
ε = Total Strain
εtr = Total Transformation Strain
εtr' = Deviatoric Transformation Strain
τM(T) = < β (T - To) >, a postive montonical ly
increasing function of the temperatu re
Iεtr' (εtr' ) = indicator function introduced to satisfy
the constraint on transformation norm
β = Material Parameter
T = Temperature
To = Temperature which no twinning martensite
is observed
h = material parameter related to the hardening
of the material during phase transformation

July 19, 2013 36 Release 14.5

 ... SMA Shape Memory Effect
Taking the derivative of the free potential energy wrt deviatoric
transformation strain, we arrive at an expression of the transformation
stress Xtr:

Where:

July 19, 2013 37 Release 14.5

 ... SMA Shape Memory Effect
Numerous experimental tests suggest describing SMA as an isotropic
material with a Prager-Lode-type limit surface.

Accordingly, the following yield criteria is assumed:

Where J2 and J3 are the second and third invariants of transformation

stress, m is a material parameter and R is the elastic domain radius.

July 19, 2013 38 Release 14.5

 ... SMA Shape Memory Effect
The evolution of transformation strain is defined as:

Where: ξ is an internal variable (transformation strain multiplier).

ξ and F(Xtr) must satisfy the classical Kuhn-Tucker conditions

as follows:

July 19, 2013 39 Release 14.5

 ... SMA Shape Memory Effect
Stresses, strains, and the transformation strains are then related as
follows:

The elastic stiffness tensor is a function of the transformation strain

defined as:

Where: DA is the elastic stiffness tensor of Austenite phase

DS is elastic stiffness of Martinsite phase

When the material is in its austenite phase, D = DA

When the material undergoes full transformation (martensite phase), D = DS.

July 19, 2013 40 Release 14.5

 ... SMA Shape Memory Effect
Graphical illustration of Shape Memory Effect model:

The austenite phase is associated

with the horizontal region abcd.

The martensite phase is represented

by the horizontal region efgh.

Mixtures of phases are related to the

surface cdef.

Point c corresponds to the

nucleation of the martensite phase.

Phase transformations take place

only along line cf.

July 19, 2013 41 Release 14.5

 ... SMA Shape Memory Effect
The shape memory effect option is defined by seven constants that
establish the stress-strain behavior of material in loading and unloading
cycles for the uniaxial stress-state and thermal loading.

h
To
R
β
εL
Em
m

SMA cannot be combined with other materials for the same material.

July 19, 2013 42 Release 14.5

Hyperelasticity Enhancements
Mullins Effect
Ogden Foam 14. 5 Release
Extended Tube

WB-Mechanical
Material Enhancements

July 19, 2013 43 Release 14.5

 Mullins Effect
Mullins effect is a stretch softening
phenomenon observed in elastomeric
materials undergoing cyclic loading.

When an elastomer is loaded in simple

tension from its virgin state, unloaded and
then reloaded, the stress required on
reloading is less then that on the initial
loading for stretches up to the maximum
stretch achieved on the initial loading.

During reloading, as the reloading strain

approaches the maximum strain seen in its
prior strain history, the stress-strain
behavior begins to stiffen and rejoin the
reference virgin curve; upon reaching the
reference virgin curve, the stress-strain
behavior follows that of the virgin stress-
strain behavior.
July 19, 2013 44 Release 14.5
 …Mullins Effect
The Ogden Roxburgh pseudo-elastic model of the Mullins effect is a modification
of the standard formulation for hyperelastic* materials and is given by:

W ( Fij ,η ) = ηWo( Fij ) + φ (η )

Where:

W O ( F ij ) is the virgin strain energy potential

without Mullins effect
η is an evolving scalar damage variable

φ (η ) is the damage function

* The virgin material is modeled using one of the available hyperelastic potentials, and
the Mullins effect modifications to the constitutive response are proportional to the
maximum load in the material history.

July 19, 2013 45 Release 14.5

 …Mullins Effect

The arbitrary limits 0 < η < 1.0 are imposed with η = 1 defined as the
state of the material without any changes due to the Mullins effect.

Then along with equilibrium, the damage function is defined by:

φ (1) = 0
φ ′(η ) = −WO( Fij )
Which implicitly defines the Ogden Roxburgh parameterη

July 19, 2013 46 Release 14.5

 …Mullins Effect
The 2nd Piola-Kirchoff stress tensor is:

∂W ∂WO
Sij = 2 =η2
∂Cij ∂Cij
The modified Ogden-Roxburgh damage function has the following functional
form of the damage variable

1 Wm − WO 
η = 1 − erf  
r  m + β L m 
Where: r, m and β are user defined material damage parameters
Wm = max[Wo(t )] is the maximum virgin potential over the
time interval t ∈ [0, t 0 ]

July 19, 2013 47 Release 14.5

 …Mullins Effect
The parameters used in the Ogden-Roxburgh damage can be defined in
Engineering Data provided a hyperelastic material model is first defined.
• Supports all hyperelastic models except foam

July 19, 2013 48 Release 14.5

 …Mullins Effect
Effect can be plotted via Chart Tool…

LS07

LS05

LS03

LS01 LS08

LS02 LS06
LS04

July 19, 2013 49 Release 14.5

 ... Ogden Compressible Foam
The Ogden compressible foam model parameters can now be defined
directly in Engineering Data. Curve fitting is available only in MAPDL.

July 19, 2013 50 Release 14.5

 ... Ogden Compressible Foam
The Ogden compressible foam model is similar to the Ogden incompressible
model:
N
µi  α 3 α  N µi
W = ∑  J (λ1 + λ2 + λ3 ) − 3  + ∑ (J −α β − 1)
i
α α i i i i i

i =1 α i   i =1 α i β i

where the initial bulk and shear moduli are

N

∑µα i i N
1 
µo = i =1
κ o = ∑ µ iα i  + β i 
2 i =1 3 

However, unlike the regular Ogden model, in the Ogden compressible foam
model, the volumetric and deviatoric terms are tightly coupled. Hence, this
model is meant to model highly compressible rubber behavior.

July 19, 2013 51 Release 14.5

 ... Extended Tube
The Extended-Tube model parameters can be defined directly in Engineering
Data. No curve fitting is available.

July 19, 2013 52 Release 14.5

 ... Extended Tube
The Extended-Tube model is useful for modeling filled rubbers. It is a physics-
based polymer model which introduces the physical consideration on the
molecular scale into the formulation of the strain-energy potential. The model
considers the topological constraints as well as the limited chain extensibility of
network chains in the filled rubbers.

Where the initial shear modulus is given by G = Gc + Ge, and:

Ge = constraint contribution to modulus Gc = crosslinked contribution to modulus
δ = extensibility parameter
β = empirical parameter (0 ≤ β ≤1)
d1 = material incompressibility parameter
- equivalent to a two-term Ogden model if α1=2; α2=-β
β ; µ1=Gc; µ2=-2Ge/ β and d=0

July 19, 2013 53 Release 14.5