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COSMOSWorks Nonlinear Training

COSMOSWorks 2007

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for Research in Astronomy, under cooperative agreement
with the National Science Foundation.

Six types of analysis

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COSMOSWorks
Adv. Professional
Professional

Designer
Static
Static

COSMOSMotion
COSMOSMotion

Vibration
Vibration
&
& Buckling
Buckling

Thermal
Thermal

Fatigue
Fatigue

Optimization
Optimization

2007 SolidWorks Corp. Confidential.

COSMOSFloWorks
COSMOSFloWorks
Flow
Flow Simulation
Simulation
Drop
Drop Test
Test

Nonlinear
Nonlinear

Post-dynamics
Post-dynamics

COSMOSEMS
COSMOSEMS
Electromagnetic
Electromagnetic

Linear Static Analysis

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Linear assumes:
Material remains linear; stress is proportional to strain
Deformations are small so that the final shape is very similar to the
initial one
Loads (Magnitude, Orientation, Distribution) never change during the
solution

Static assumes:
All loads, as well as restraints, are assumed not to change with time
(their application on the model is very slow).
Inertial and damping effects are negligible

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What is a Nonlinear System?

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If the behavior of a structural system depends on its current state (i.e.,

current displacement, stress-strain relation, and/or force), the forcedisplacement relationship becomes nonlinear.

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TYPES OF NONLINEARITIES

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Geometric

Geometrical nonlinearities
Material nonlinearities
Boundary nonlinearities

Nonlinear
Problems in
Mechanics
Material

Contact

Each type of such nonlinearities can be present separately or in

conjunction with the other types.
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GEOMETRICAL NONLINEARITIES

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Arises from the effect of large displacements or large

rotations.

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MATERIAL NONLINEARITIES

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Characterized by Stress-Strain curves for material

Nonlinear elastic materials
Plastic materials

Elastomers, Thermoplastics, Fillers

Strains beyond yield limit for ductile metals

Hyperelastic materials
Rubber, foam

Creep analysis, Viscoelasticity

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BOUNDARY NONLINEARITIES

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Due to changing nature of the boundary conditions (kinematic

and/or force) of the structures involved in the analysis during motion .
Contact Problems

Pounding of structures
Fitting problems
Gear-tooth contacts

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EXAMPLE: LINEAR SPRING

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Hookes law
Undeformed spring
Force=0

Spring stiffness is constant and

does not depend on the
displacement
Displacement is measured from
undeformed configuration
What is the displacement for a
given force F ?

Deformed spring
Force=F

Force = Spring Stiffness * Displacement

F = K * x
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therefore

x = F/K
9

EXAMPLE: NONLINEAR SPRING

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Spring stiffness depends on the current displacement

Spring stiffness is not constant

Force=F
x

Spring
Stiffness,
K

Force = K(x) * x
Displacement, x

Nonlinear Problem
For a given force F and K(x) , find displacement.
Approach: Incremental method - force is increased in small
steps and displacement is computed at each step.
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EXAMPLE: INCREMENTAL METHOD - 1

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Lets say Force is split into 10 small pieces

First increment:
Force value of F0 = 0.1F is applied
Displacement is computed for this force using

x0 = F0 /K(0)
Second increment:
Force F1 = 0.2F is applied
Displacement is computed for this force using

x1 = F1 /K(x0)
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EXAMPLE: INCREMENTAL METHOD - 2

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Tenth increment:
Force F10 = 1.0F is applied
Displacement is computed for this force using

x10 = F10 /K(x9)

Force equilibrium not satisfied !

F10

K(x10)* x10

How to enforce equilibrium ?

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Incremental +
Iterative methods
12

EXAMPLE: INCREMENTAL + ITERATIVE METHOD

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Use tangent stiffness KT(x) to linearize

KT(x) is computed by taking derivative of K(x)

First step: Use first increment of force

Solve for displacement
Equilibrium not satisfied
Find correction

r0 = F0 - K(x0)* x0

New displacement

x0 = F0 /KT(0)

x0 = r0 /KT(x0)
x0 + x0

Check if equilibrium is satisfied with this new displacement

If not, repeat previous two steps until equilibrium is satisfied

Second step: Use second increment of force

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NONLINEAR FEA

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Force-Displacement relationship [K] {u} = {R}

where,
{u}

= Displacement vector

[K]

= Stiffness matrix

{R}

= Vector of externally applied loads

For Linear Problems:

Stiffness matrix is independent of displacement and force

For Nonlinear Problems:

Stiffness matrix depends on displacement and also on force

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GEOMETRICAL NONLINEARITIES

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Geometric Nonlinearity

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Geometric nonlinearity becomes a concern when the

parts deform so much that the initial model
assumptions are no longer valid
Stress Stiffening / Softening
Snap-Through Snap Back Buckling
Large Strain

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LESSON 1: LARGE DISPLACEMENT ANALYSIS OF

HOSE CLAMP

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Four Studies to compare:

Static Study
Nonlinear Study with fixed time increment of 0.2
Nonlinear Study with fixed time increment of 0.01
Nonlinear Study with automatic time stepping
Static Study with the option for Large
displacement turned on

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LESSON 1 (continued) Summary of results

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Static Study: Incorrect

Nonlinear Study with fixed time increment of 0.2: Failed to
converge
Nonlinear Study with fixed time increment of 0.01: Correct
but slow
Nonlinear Study with fixed automatic time stepping: Correct
and best
Static Study with Large Displacement option turned on:
Correct but may not always work

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OPTIONS IN STATIC STUDY

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Check Large displacement option if:

Max Strain > 5%
Displacements are
noticeable when the deformed
shape is plotted using scale
factor of 1.0
Loads are applied gradually

and uniformly up to their full

values
Can handle only surface
contact
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NUMERICAL PROCEDURES FOR NONLINEAR

FINITE ELEMENT ANALYSIS

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THREE COMPONENTS

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Efficient solution of nonlinear problems require appropriate

techniques
Iterative method:
Try and correct runs to achieve the equilibrium of forces
Control Techniques:
To control the progress of the computations along the
equilibrium path of the system
Termination Scheme:
To end the solution process

ITERATION
CONTRO
L
STOPPING
CRITERION

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NEWTON-RAPHSON

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The tangential stiffness matrix is formed and decomposed at

each iteration within a particular solution step.
The NR method has high convergence rate (Quadratic).
Expensive for large systems.
For perfectly plastic or strain-softening materials, the tangential
stiffness may become singular or ill-conditioned.

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MODIFIED NEWTON-RAPHSON

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Tangential Stiffness Matrix is formed and decomposed at the

beginning of each step (or the user-specified reformation
interval) and used throughout the iterations.
The MNR method has a lower convergence rate than NR.
Inexpensive for large systems.
For perfectly plastic or strain-softening materials, the tangential
stiffness may become singular or ill-conditioned.
If the stress state is unloaded from a plastic state to an elastic
state, MNR may not lead to a convergent iteration.
MNR maybe be more expensive than NR when the number of
required MNR iterations is considerably larger than the required
NR iterations.
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FORCE CONTROL
Applied loads are used as prescribed variables.
Loads (concentrated, pressure, prescribed
displacements, base motion, thermal, gravity, ) are
incrementally applied using time curves.

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CONTRO
L

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DISPLACEMENT CONTROL
A pattern of the applied loads is proportionally incremented (using a
single load multiplier) to achieve equilibrium under the control of a
specified degree of freedom.
The controlled DOF is incremented through the use of a time curve.
Actual loading at any time is proportional to the applied pattern by a
factor called the load factor.

2007 SolidWorks Corp. Confidential.

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CONTRO
L

25

LESSON 2: LARGE DISPLACEMENT ANALYSIS OF

A TRAMPOLINE

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Q1. What is the maximum displacement when you have 3 inches of

water on trampoline ?

Q2. How many inches of water does it take to deflect the trampoline 8
inches?
2007 SolidWorks Corp. Confidential.

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LESSON 3 (continued): Comparison of studies

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Static Study: Incorrect

Nonlinear Study with Force control: Correct but special
techniques needed
Nonlinear Study with Displacement control: Correct but
slower

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ARC-LENGTH CONTROL
A parameter is prescribed by means of a constraint equation
which is added to the set of the governing equilibrium
equations.

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CONTRO
L

Control parameter can be viewed as arc-length

of the equilibrium path.

A point on the equilibrium path is

determined by the intersection of the
equilibrium path with the surface prescribed
by the arc-length constraint.
A pattern of the applied loads is
proportionally incremented (using a single
load multiplier) to achieve equilibrium under
the control of a specified arc-length.
The arc-length is internally calculated by
the program.
2007 SolidWorks Corp. Confidential.

No Time curve is required.

28

WHICH CONTROL TECHNIQUE ?

Force control fails near a snap-through point.

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CONTRO
L

Displacement control fails near a snap-back point.

Arc-length control overcomes these difficulties.
Snap-through and/or snap-back states can be encountered
in buckling analysis of frame, plate, and shell structures.

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CHOICE OF CONTROL TECHNIQUE

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CONTRO
L

Snap back point

Failure of force and displacement control methods

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LESSON 3: Nonlinear Buckling of Cylindrical shell

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Center load of 1000 N downward

Will it fail ?
How will it fail ?
Yield ? Buckle ?

Four Studies:
Static Study: Maximum Stresses and Displacements ?
Buckling Study: Buckling Load Factor ?
Nonlinear Study: How does it buckle ? What happens after it buckles ?
Load is slightly off center, Full model, Nonlinear Study, : What happens ?
2007 SolidWorks Corp. Confidential.

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LESSON 3 (continued): Comparison of studies

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Linear Buckling: Incorrect

Nonlinear Symmetrical Buckling: Rare to occur
Nonlinear Asymmetrical Buckling: More common

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EXERCISE 1: Nonlinear Analysis of a Shelf

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Will it fail ?
How will it fail ?
Yield ? Buckle ?

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TERMINATION SCHEMES - 1
Termination schemes must be provided at the end of each
iteration to check if the iteration has converged or if it is
diverging.

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STOPPING
CRITERION

A very loose tolerance can initiate inaccurate results.

A very strict tolerance can result in high computational cost.
Termination schemes can also be provided at the end of a
step to check if the solution has converged to an unrealizable
solution.

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TERMINATION SCHEMES - 2

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Convergence criteria:
Displacement Convergence Criterion (MNR and NR)
Energy Convergence Criterion (BFGS method)

STOPPING
CRITERION

Divergence criteria:
Divergence of the residual loads (MNR and NR)
Divergence of the incremental energy (BFGS method)

Bad divergence criterion:

End the process when the solution is not diverging, or
Allow the process to continue searching for unrealizable
solutions

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MATERIAL NONLINEAR MODELS

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Material Nonlinearties

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Stress-Strain Curve for a Uniaxial Tension Test

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Stress-Strain Curves and Yield strength

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Stress-Strain Curve for a Uniaxial Tension Test

0.2% strain
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The stress
corresponding to the
intersection of the
stress-strain curve and
a line parallel to the
elastic part of the curve
offset by a specified
(0.2%) strain.
38

Plasticity material model

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If the material is loaded beyond its yield strength, upon

complete removal of the load, it will result in a permanent
deformation. If the material is reloaded, it will follow the
previous unloading path.

Yield Stress
STRESS

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STRAIN

39

Plasticity model - Strain Hardening

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Model is loaded beyond its yield stress and completely unloaded

Results in Permanent Deformation
Model is reloaded and it will follow the previous unloading path. The yield
stress is now higher and the material is said to have hardened.

Yield Stress
STRESS

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STRAIN

40

Bauschinger Effect

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Behavior in tension is
different from behavior in
compression after yielding.

Example: Stress-strain curves for Cold rolled

steel in tension and in compression.

From data sheets of Allegheny Ludlum

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Isotropic Hardening

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Isotropic Hardening
Approximate plasticity model
Yield stress is the same in
tension and in compression
Limiting case, does not reflect
reality for most metals

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Kinematic hardening

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To model Bauschinger effect

Yield stress is different in
tension and in compression
Limiting case, closer to the
behavior of most metals

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HARDENING FACTOR, RK

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Is the loading cyclic ?

Yes Use RK close to 1.0 for Kinematic (or Mixed) Hardening
No - Use RK close to 0 for Isotropic Hardening

Are the multiple non-cyclic loads activated at different times?

Yes If possibility of stress reversals exists, use RK close to 1 for
Kinematic (or Mixed) Hardening
No Use Isotropic Hardening (RK close to 0)

2007 SolidWorks Corp. Confidential.

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Von Mises Plasticity Model

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A point in the material is plastic if the von Mises stress is

greater than the Yield Stress
Recall that Yield Stress is obtained from Uniaxial Tension
Test

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45

Tresca plasticity model

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A point in the material is plastic if the maximum shear stress

is greater than the half the yield stress in tension
In real life, the yield strength of most metals lies between
Von Mises and Trescas plasticity models
Tresca plasticity model is conservative

2007 SolidWorks Corp. Confidential.

46

LESSON 4: Stress Analysis of a Paperclip

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Linear study: Yielding?

Nonlinear study:
Von Mises plasticity
Tresca plasticity
Loading and full unloading
> permanent deformation

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47

LESSON 5: Elasto-Plastic Analysis of a Crackarm

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Bauschinger effect
Nonlinear study:
Isotropic hardening
Kinematic hardening
Permanent deformatin and
residual stresses

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LESSON 5: Elasto-Plastic Analysis of a Crackarm

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LESSON 5: Elasto-Plastic Analysis of a Crackarm

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Isotropic hardening

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Kinematic hardening

50

HYPERELASTIC MATERIALS

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Neoprene Rubber
Natural Rubber
Silicone Rubber
Nitrile Rubber
Chloroprene Rubber

Hyperelastic materials Materials that show larger strain for a given

stress than metalsmaterials are hyper
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REAL-LIFE STRESS-STRAIN CURVES

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STRESS-STRAIN CURVES ASSUMPTIONS

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MATERIAL MODEL ASSUMPTIONS

Incompressible (n=0.499)
Stress-strain curve is stable (no provision for emax dependence).
Loading and unloading follows the same curve.
Plastic strain is neglected

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MOONEY-RIVLIN MODEL

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MATERIAL MODELS Incompressible rubbers

All models based on the elastic strain density W

1. Mooney-Rivlin (displacement-pressure formulation)

w A J1 3 B J 2 3

J 1 I1 I 3

1
3

J 2 I2 I3

2
3

1
2
2
2
3
K J 3 1 C J1 3 J 2 3 D J 3 3 E J 2 3 F J1 3 Q
2
1

J 3 I3 2

(I1, I2 and I3, are invariant of Cauchy-Green deformation tensor)

Good agreement experimental results for strains up to 150%.

Can be used for larger strains as well.

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OGDEN MODEL

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MATERIAL MODELS Incompressible rubbers

2. Ogden (displacement-pressure formulation)

w k
k 1 k

n
2
1

n
2
2

n
2
3

L L L 3

1
2
K J 3 1 Q
2

2
3
i 3

Li I

reduced princ. values of Cauchy Green deformation tensor

principal stretches

i , i

material constants

number of terns in the function

Recommended when strains up to 500-600% occur.

More complicated constants extraction than in Mooney-Rivlin.

May be less computationally efficient than Mooney-Rivlin.

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GLATZ-KO MODEL

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MATERIAL MODELS Compressible foams

3. Glatz-Ko (displacement-pressure formulation)

1 I
w G 2 2 I 3 5
2 I3

Poissons ratio =0.25

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LESSON 6: Deformation of Rubber Pipe

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Q. What is the maximum displacement?

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LESSON 6: Deformation of Rubber Pipe

2 constant MR model:

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One material curve

Two material curves
Three material curves

6 constant MR model:

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Three material curves

58

STRESS-STRETCH_RATIO CURVES

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2-TERMS Mooney-Rivlin
STRETCH RATIO = 1 + STRAIN

6-TERMS Mooney-Rivlin

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CONTACT

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LESSON 7: Elasto-Plastic Analysis of a Crackarm

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Contact analysis
Large deformation
Nonlinear material model
Hyperelastic material
Analysis stabilization

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MODELING APPROACHES
LARGE STRAIN ANALYSIS

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LESSON 8: Bending of Metal Sheet

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Q. What is the maximum material deformation during the bending

process?

Q2. What is the force required to complete the operation?

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LESSON 8: Modeling Approaches

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Shells

Mixed mesh

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LESSON 8: Results
Shells

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Mixed mesh

65

Material Nonlinearlity

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There can be a significant difference between the linear and

nonlinear material responses
For any material besides steel, reviewing the SS curve is the
best way to understand the nonlinearity of the problem
Even if you are using a linear material model, knowing nonlinearity is
important for interpreting results

A linear model can provide valid data for many materials

At low strains
For trend comparisons

Linear Elastic vs. Nonlinear Plastic Response

A linear analysis can only predict the onset of yielding
Once the limits of the analysis are exceeded, correlation degrades
with the complexity of stress state.
2007 SolidWorks Corp. Confidential.

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