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Topics:
•Introduction and Overview
•Explicit time integration method
•Implicit time integration methods and solution of equilibrium
equations
•Stability of solutions
•Numerical stability
•Material stability
INTRODUCTION AND OVERVIEW:
• Solution procedures for nonlinear finite element analysis of
continua and structures are presented.
• Explicit and implicit methods for transient problems and methods
for the solution of equilibrium problems are described
• Stability is an important topic in NLFEA.
• Stability of solutions, stability of numerical procedures and material
stability are presented.
• In Explicit time integration, we focus on the central difference
method.
• We next describe implicit time integration methods with the
Newmark -method as our focus
• Methods for solution of static problems, i.e., the solution of
equilibrium problems, are developed simultaneously.
• Newton method description also includes techniques used for
convergence checks and line search method.
• A critical step in the implicit scheme and static problems is the
LINEARIZATION of the governing equations. Linearization
procedures for the equations of motion and the Equilibrium
Equations are described.
• In nonlinear problems, stability of solution is of considerable
interest. Methods for examining stability are described.
• We then examine numerical stability of time integration methods
and analysis of central difference method and the Newmark, -
method are performed.
• The topic of material stability concludes the session.
Explicit Time Integration Methods
• The central difference method is among the most popular of the
explicit methods in computational mechanics. The central
difference method is developed from central difference formulae
for the velocity and acceleration. We consider here its application
to Lagrangian meshes. Methods for Eulerian and ALE meshes
are discussed separately. Geometric and material nonlinearities
are included in the equations of motion, and in fact have little
effect on the time integration algorithm.
• Notation: Let the time of the simulation 0 t tE be subdivided
into time steps tn, n = 1 to nTS where nTS is the number of time
steps and tE is the end of simulation. tn and dn d(tn) are the time
and nodal displacements, respectively at time step n.
• The algorithm with a variable time step is considered. This is
necessary in practical calculations since the stable time step
changes as the FE mesh deforms and wave speed changes due to
stress.
• The time increments as
1 1
n n
Δt n t t 2 2
d
1 1
n n 1
d 2
V 2
1
n 1
dn
n
Δt 2
n 1 n 1
t 2 t 2
1 1
n n
V 2
V 2
Δt n a n
d a
n n
d n 1
2d n d n 1
Δt n 2
• The equations of motion at time step n are :
M a n f n f ext d n , t n f int d n , t n Eqn(A)
Subject to constraint s :
g I d 0, I 1 to n c
n
W n
kin V
2
1 n T
M Vn
Note that integer time steps are used for the velocities.
The internal energies can also be computed on the element OR
quadrature point level.
• Energy conservation requires that
0 r d n 1
,t n 1
S
D Ma n 1
f int
d , t
n 1 n 1
f ext
d n 1
,t n 1
1
where SD is a switch which is set by:
SD = 0 for a static (equilibrium) problem.
SD = 1 for a dynamic (transient) problem.
The column matrix r (dn+1, tn+1) is called a RESIDUAL FORCE.
The discrete equilibrium equations are nonlinear algebraic
equations in the nodal displacements, dn+1.
The discrete equations for the implicit update of the equations of
motion are also nonlinear algebraic equations in the nodal
displacements, dn+1.
Equilibrium solutions and equilibrium points
•When the accelerations vanish or are negligible, a system is in static
equilibrium and the solution of (1) is called an EQUILIBRIUM
SOLUTION. The equations of equilibrium are given by (1) with SD 0.
0 r d n 1 , t n 1 f int d n 1 , t n 1 f ext d n 1 , t n 1 2
• In equilibrium problems, the residuals correspond to the out-of-
balance forces. Problems in which the accelerations can be neglected
are called static problems. A solution of the above is called an
equilibrium point and a continuous locus of solutions is called an
equilibrium path.
• In equilibrium problems with rate-independent materials, t need not
be the real time. In stead, it can be any monotonically increasing
parameter.
• If the constitutive equation is a differential or integral equation, it
must also be discretized in time to obtain a set of algebraic equations
Newmark Equations:
• We use a popular class of time integration methods called
newmark method. The updated displacements and velocities are
n 1 ~ n 1 2 n 1
d d β Δt a
Δt 2
~ n 1
where d d n Δt V n 1 2β a n 3
2
~ n 1
V V γ Δt a n 1
n1
where V V n 1 γ Δt a n 4
~ n 1
Where t = tn+1 – tn
and are parameters whose useful values and stability
properties are summarized in Box 6.2
• The parameter controls artificial viscosity, a damping introduced
by the numerical method. It is used to suppress noise in the solution,
when = ½, the Newmark method adds no damping for > ½
artificial damping proportional to -1/2 is added by the integration
method.
• Eqn (3) can be solved for the updated acceleration, giving
a n 1 1
β Δt 2
n 1
d d when β 0 5
~ n 1
0r
SD
β Δt 2
M d n 1
~ n 1
d f int
d n 1 n 1
, t f ext
d ,t
n 1 n 1
6
β Δt 2
df K d d
ext ext
dr A d d
Software Implementation
• Flow charts for Implicit integration and Equilibrium solutions are
given in Boxes 6.3 and 6.4, respectively. Both the dynamic problem
and the equilibrium problems are solved by time stepping. The
external loads and other conditions are described by the user as
functions of time, which is incremented over the range of interest. In
equilibrium problems, tine is often replaced by a monotonically
increasing parameter. Solutions of equilibrium processes obtained in
this manner are called Incremental Solutions.
• The flow chart shows the full Newton algorithm, where the
Jacobian matrix is evaluated and inverted in every iteration of the
solution procedure.
•Many programs offer a modified Newton algorithm, in which the
Jacobian matrix is assembled and triangulated only at the beginning
of a step or intermittently during a step. For example, the Jacobin
matrix may be triangulated only when the ITERATIVE procedure
does not seem to be converging well. The modified Newton algorithm
is faster but less robust.
•The Implicit scheme begins with the imposition of the initial
conditions. The initial displacements are considered to be zero. The
initial accelerations are computed as shown in steps 2 and 3 (Box
6.3).
•The nodal displacements dn+1 are obtained by an iterative procedure.
To begin the iteration, a starting value of d is needed; usually the
solution from the preceding time step is used. The residual r is then
calculated for this starting value. In an equilibrium solution, the
residual depends only on the internal and external nodal forces; which
is obtained in the module getforce. In transient implicit solution, the
residuals also depend on the acceleration.
Constraints
• There are four options for treating the constraints.
gI(dn) = 0, I = 1 to nc (no. of constrants)
1. Penalty.
2. Lagrange multiplier.
3. Augmented Lagrangian
4. Perturbed Lagrangian.
OR
N I
f int
Pji dΩ
X j
iI
Ω
X j
jI
0
f int B T P dΩ
Ω0
0
N I
f int
dS jr Fir S jr dFir dΩ0
X j
iI
Ω0
• The above shows that the rate ( or increment) of the internal nodal
forces consists of two parts.
, and thus depends on
1. The first part involves the rate of stress S
the material response and leads to what is called the material
tangent stiffness matrix which we denote by Kmat
2. The second part involves the current state of stress S, and
accounts for geometric effects of the deformation (including
rotation and stretching). This term is called the geometric
stiffness. It is also called the initial stress stiffness matrix to
indicate the role of the existing state of stress. It is denoted by
Kgeo.
• The changes in the internal nodal forces due to these two effects are
given analogous names, so
f int f mat f geo
OR f int f mat f geo
iI iI iI
where
N I
fiImat Ω X j Fir S jr dΩ0
0
N I
f geo
iI Ω X j ir 0
S jr
dΩ
F
0
Material Tangent Stiffness Matrix
• We rewrite the rate of the internal nodal forces, in Voigt notation
f mat BT0 S dΩ 0
Ω0
Where
format.
S is the rate of the PK2 stress in Voigt column matrix
• The constitutive equation in rate form is
S CSE E
ij ijkl kl
or
S CSE E
Where E is the rate of the Green strain.
• We now relate the rate of the Green strain to the nodal velocities
in Voigt notation,
E B 0
d
• Finally we get the material rate of the internal nodal forces
Ω0
f int B T CSE B dΩ d
mat 0 0 0
OR
fmat
int
B T0 CSE B 0 dΩ 0 dd
Ω0
K mat
IJ B C B dΩ
T
0I
SE
0J 0
Ω0
• The material tangent stiffness relates increments (OR rates) of the
internal nodal forces to the increment (or rate) of the nodal
displacements due to material response, which is reflected in the
tangent modulii CSE. Its form is identical to the stiffness matrix in
linear finite element analysis.
Geometric Stiffness: Initial Stress Stiffness Matrix
• The geometric stiffness matrix is obtained as follows.
From the definition
N I
B 0
X i
iI
We can write
ii Ij jr ir 0
f geo B0 S F dΩ
Ω0
B S jr B dΩ 0 u i,J
0
Ij
0
rj
Ω0
B S jr B dΩ 0 δ ik u kJ
0
Ij
0
rj
Ω0
K geo
T
IJ I B 0I S B 0J dΩ 0
Ω0
•Note that the PK2 stress S is in tensor form, i.e., a square matrix.
•The geometric stiffness matrix Kgeo is invariant with rotation.
•The above in Total Lagrangian Formulation are easily converted
to ULF (Updated Lagrangian Formulation) by letting the current
configuration be the reference configuration:
K mat
IJ B CT
I B dΩ
στ
j
Ω
K mat BT C στ B j dΩ
Ω
K geo
IJ I B σ BJ dΩ
σ
I
Ω
• The tangent modulii [CSE] and [C] for a wide variety of
engineering materials are presented in the session: Constitutive
Models.
• Tangent material stiffness matrices for specific finite elements
are presented later in this session.
• The numerical values of the above matrices Kmat and Kgeo in the
TLF and ULF are identical, and the choice of which to use is a
matter of convenience.
• The Issue of symmetry of the tangent stiffness matrix deserves
attention. Symmetry speeds the solution of the set of nonlinear
algebraic equations reduces storage requirements and simplifies
stability analysis.
• The material tangent stiffness matrix is symmetric when the
Voigt form of the tangent modulii matrix [CSE] is symmetric.
•The geometric stiffness matrix is always symmetric. Therefore, the
tangent stiffness matrix Kint is symmetric whenever the tangent
modulii possess major symmetry.
•See box 6.5 for Jacobian of Internal Nodal Forces (tangent stiffness
matrix).
External load stiffness
•Follower loads are loads that change with the configuration of the
body (elements). They appear in geometrically nonlinear problems
only. Pressure is a common example of Follower load. A pressure
force is always normal to the surface, so as the surface MOVES the
external nodal forces change even if the magnitude of pressure is
constant. These effects are accounted for in the Jacobian matrix of
external nodal forces, denoted by Kext, which is also called the
LOAD STIFFNESS .
• The load stiffness Kext relates the rate of external nodal forces to
the nodal velocities.
• Consider a pressure load, p(x,t), the external nodal forces on a
surface of element e are given by letting t p n
f I
ext
N I p n dΓ
Γ
• Let the surface be parametized by two variables and . For
quadrilateral surface element, these variables can be the parent
element natural coordinates on the biunit square, since
n dΓ x ,ξ x ,η dξ dη we can write
1 1
f I
ext
pξ, η N I ξ, η x ,ξ x ,η dξ dη
1 1
Taking the time derivative of the above gives
1 1
fIext N I p x ,ξ x ,η p V,ξ x ,η p x ,ξ V,η dξ dη
1 1
•The first term is the rate of change of the external nodal forces
due to the rate of change of the pressure. In many problems, the
rate of change of pressure is prescribed as part of the problem
definition.
•In other problems, such as in Fluid-Structure Interaction
problems, pressure may arise from changes of the geometry: these
effects must then be linearized and added to the Load Stiffness. We
omit this aspect in the following.
•The last two terms represent the changes in the external nodal
forces due to the changes in the direction of the surface and the
area of the surface. These are related by the external load stiffness,
so the RHS of the above equation becomes
1 1
IK VK p N I V,ξ x , η x ,ξ V, η dξ dη
K ext
1 1
0 z ,η y ,η 0 z ,ξ y ,ξ
1 1
and K ext
IJ p N I N J, ξ z ,η 0 x ,η N J, η z ,ξ 0 x ,ξ dξ dη
1 1
y ,η
x ,η 0 y ,ξ
x ,ξ 0
1 0 1 0
στ
AE 0 0 0 0
K̂ mat
l 1 0 1 0
0 0 0 0
• This is identical to the linear stiffness matrix for a rod if E is
replaced by Young’s modulus E.
• The material tangent stiffness matrix relating global components
of Internal Nodal forces and Nodal Velocities is
f Imat K mat VI
K mat T T K̂ mat T
Where T is given by
cosθ sin θ 0 0
sin θ cosθ 0 0
T
0 0 cosθ sin θ
0 0 sin θ cosθ
• Geometric Stiffness Matrix (ULF)
The geometric stiffness matrix is given by
K̂ IJ Ĥ IJ I
Ĥ B̂T σ B̂ dΩ
Ω
1 1
σ̂ xx 1 1 dΩ
1
l 1
Ω
l
σ̂ xx A 1 1
Ĥ
l 1 1
1 0 1 0
0 1 0 1
Aσ̂ xx
K̂ geo
l 1 0 1 0
0 1 0 1
K geo T T K̂ geo T
• The total tangent stiffness matrix is the sum of the material and
geometric stiffnesses.
Kint = Kmat + Kgeo
Load stiffness
The load stiffness for the 2-node ROD element is developed here.
First it is evaluated in the corotational coordinate system x̂, ŷ
0 1 0 1
1 0 1 0
pa
K̂ ext
2 0 1 0 1
1 0 1 0
K ext T T K̂ ext T K̂ ext
Material tangent stiffness matrix in TLF
K mat BT0 CSE B0 dΩ 0
Ω0
Note the material constant ESE relates the rate of the PK2 stress to
the rate of the Green strain in a uniaxial state of stress.
Geometric Stiffness Matrix in TLF
1 0 1 0
A 0 Su 0 1 0 1
K geo
l 0 1 0 1 0
0 1 0 1
THREE-NODE TRIANGULAR ELEMENT
• We consider the 3-node triangular element in two dimensions in a
state of plane strain.
Material tangent Stiffness Matrix
1 y 23 y 31 y12
when B
2A x 32 x13 x 21
y 23 x 32
1 σ xx σ xy y 23 y 31 y12
H x13
σ yy x 32 x 21
y 31
4A σ xy x13
y12 x 21