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FEM in Solid MechanicsPart II
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Part II
Eduardo Dvorkin
Contents
Part 1
� Linear and nonlinear problems in solid mechanics� Fundamental equations:
� Kinematics� The stress tensor� Equilibrium
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� Equilibrium� Constitutive relations
� The principle of virtual work
Part 2
� FEM in solid mechanics� Elasto-plasticity� Structural elements� Nonlinear problems- Collapse� Dynamic problems
FEM in Solid Mechanics
P(t)
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The solution : ui=ui(x,y,z)Has to fulfill:• Compatibility with rigid boundary conditions• Internal equilibrium• Equilibrium between applied loads and stresses• Constitutive equations
FEM in Solid MechanicsAny continuous set of functions ui=ui(x,y,z) that satisfies the rigid boundary conditions can be our solution.
Approximate solutions:
We seek among a finite set of functions and we pick the one that best fits the solution.
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If we want to improve a solution we just increase the number offunctions in the trial set.
It can be shown that the requirements on the functions are:
Continuity of the functions (not necessarily of their derivatives).Continuity of the functions (not necessarily of their derivatives).Exact representation of rigid body movements.Exact representation of rigid body movements.Exact representations of constant strain cases.Exact representations of constant strain cases.
FEM in Solid Mechanics
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We can calculate the above integrals with functionsthat are only C0 continuous
FEM in Solid Mechanics
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We can calculate the above integrals with functionsthat are only C0 continuous
FEM in Solid MechanicsElements and nodes
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The interpolation functions
FEM in Solid Mechanics
1
2
r=1
s=1
2D example Natural coordinate systeminside each element (r, s)
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3
4
r=-1
s=-1
FEM in Solid Mechanics
2D four-nodes element
r
s
12
h1+1
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r
3 4
FEM in Solid Mechanics
2D four-nodes element
s
12
h2+1
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r
3 4
FEM in Solid Mechanics
2D four-nodes element
s
12
h3
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r
3 4
+1
FEM in Solid Mechanics
2D four-nodes element
s
12
h4
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r
3
+1
FEM in Solid Mechanics1D elements
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FEM in Solid Mechanics2D elements
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FEM in Solid Mechanics3D elements
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From Bathe, Finite Element Procedures
Pop Quiz # 4
and why?
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to be able to represent rigid translations
Show at home that it can also represent rigid rotations and constant strain states
Pop Quiz # 5 Are these meshes acceptable?
YES
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NOYES
YES
YES
Pop Quiz # 5 Isoparametric elements
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FEM in Solid Mechanics
1
2
12
Local 1Local 2Local 1
Local 2
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4
5
6
Local 3 Local 4
Local 3
Local 4
Vector of unknown nodal variables
X
Y
12
45
6
1 2
Local 1
Local 2
Local 3
Local 4
Local 1
Local 2
Local 3
Local 4
Interpolación Elemento 1
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Interpolación Elemento 2
FEM in Solid MechanicsInside each element
And calculating the derivatives via the Jacobian Matrix as shown above
x
u
∂
∂
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UB
z
u
x
w
y
w
z
v
x
v
y
uz
w
y
vx
zx
yz
xy
zz
yy
xx
=
∂
∂+
∂
∂∂
∂+
∂
∂∂
∂+
∂
∂∂
∂∂
∂∂
=
=
ε
ε
ε
ε
ε
ε
ε
2
2
2
FEM in Solid Mechanics
Matrix 3D 2D
Plane stress
2D
Plane strain
2D
Axisym.
ε 6 x 1 3 x 1 3 x 1 4 x 1
B 6 x 3*NNOD 3 x 2*NNOD 3 x 2*NNOD 4 x 2*NNOD
U 3*NNOD 2*NNOD 2*NNOD 2*NNOD
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U 3*NNOD 2*NNOD 2*NNOD 2*NNOD
zx
yz
xy
zz
yy
xx
ε
ε
ε
ε
ε
ε
2
2
2
yz
zz
yy
ε
ε
ε
2
yz
zz
yy
ε
ε
ε
2
θθε
ε
ε
ε
yz
zz
yy
2
FEM in Solid Mechanicsεθθ in axisymmetric problems
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oy ty= oy+v
y
z
( )y
v
y
yvy00
00
2
22=
−+=
π
ππεθθ
FEM in Solid Mechanicsεθθ in axisymmetric problems
( )y
v
y
yvy00
00
2
22=
−+=
π
ππεθθ
........................
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U
yh
h
yh
h
yh
h
n
k
k
NNOD
n
k
k
n
k
k
yz
zz
yy
=
∑∑∑0......00
........................
........................
........................
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θθε
ε
ε
ε
FEM in Solid MechanicsFor linear elastic materials
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FEM in Solid MechanicsFor an isotropic linear elastic material:
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FEM in Solid MechanicsFor an elastic-plastic material we have to define an incremental relation:
From the references
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From the references
FEM in Solid Mechanics
For a rigid-viscoplastic material:
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FEM in Solid Mechanics
Linear elasticity
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[ ] [ ] [ ] [ ] [ ]
[ ] [ ] [ ]
[ ] [ ] [ ]dStHUdSut
dvbHUdvub
dvBUdvdv
T
S
S
T
i
S
i
V
TT
i
V
i
T
V
T
V V
T
ijij
∫∫
∫∫
∫∫ ∫
=
=
==
δδ
δδ
σδσδεδεσ
FEM in Solid Mechanics
Linear elasticity
[ ] [ ] [ ] [ ] [ ] [ ]
[ ] [ ]ext
T
S
S
V
TT
V
RF
dStHdvbHdvB
=
+= ∫∫∫
int
σ
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The nodes are always in equilibriumThe nodes are always in equilibrium
FEM in Solid Mechanics
Linear elasticity
[ ] [ ][ ] [ ] [ ]RUdvBCB ext
T
V
∫ =
Stiffness matrix
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[ ] [ ] [ ][ ]dvBCBKT
V
∫=
The stiffness matrix is symmetric
FEM in Solid Mechanics
Linear elasticity
In natural coordinates
[ ] [ ] [ ][ ] dtdsdrJBCBKT
∫ ∫ ∫− − −
=1 1 1
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[ ] [ ] [ ] [ ] [ ] dsdrJtHdtdsdrJBR S
T
S
T
ext ∫ ∫∫ ∫ ∫
∫ ∫ ∫
− −− − −
− − −
+=1
1
1
1
1
1
1
1
1
1
1 1 1
σ
Numerical Numerical integration is integration is used (e.g. Gauss)used (e.g. Gauss)
FEM in Solid MechanicsGetting to know the elements
1
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10
Pure bending using a 4-node element
Plane stress; E=2.1E6; ν=0.3; thickness= 0.1
FEM in Solid MechanicsGetting to know the elements
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Mesh
FEM in Solid MechanicsGetting to know the elements
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Vertical displacements
FEM in Solid MechanicsGetting to know the elements
Vertical displacement at the tip
Analytical= ML2/2EI 2.86
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FEM 0.072
FEM/Analytical 0.025
What is going on?
FEM in Solid MechanicsGetting to know the elements
Let’s examine the predicted stresses
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Shear stressesShould be zero … but are only zero at the element center
FEM in Solid MechanicsGetting to know the elements
Standard solution:
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Let’s use more elements!!
FEM in Solid MechanicsGetting to know the elements
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New mesh
FEM in Solid MechanicsGetting to know the elements
New mesh
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Vertical displacements
FEM in Solid MechanicsGetting to know the elements
Vertical displacement at the tip
Analytical= ML2/2EI 2.86
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Analytical= ML2/2EI 2.86
FEM 1.93
FEM/Analytical 0.67
FEM in Solid MechanicsGetting to know the elements
Let’s examine the predicted stresses
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Shear stressesShould be zero … but are only zero at the element center
FEM in Solid MechanicsGetting to know the elements
The 4N displacement interpolation cannot model
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a constant bending situation
FEM in Solid MechanicsGetting to know the elements
1
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10
Pure bending using a 9-node element
Plane stress; E=2.1E6; ν=0.3; thickness= 0.1
FEM in Solid MechanicsGetting to know the elements
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Mesh
FEM in Solid MechanicsGetting to know the elements
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Vertical displacements
FEM in Solid MechanicsGetting to know the elements
Vertical displacement at the tip
Analytical= ML2/2EI 2.86
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FEM 2.86
FEM/Analytical 1.00
FEM in Solid MechanicsGetting to know the elements
Vertical displacement at the tip
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Shear stresses
Zero everywhere!!
FEM in Solid MechanicsGetting to know the elements
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Axial stresses
Exact result!!
FEM in Solid MechanicsGetting to know the elements
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Transverse stresses
Zero everywhere!!
FEM in Solid MechanicsGetting to know the elements
The 9N element exactly representsa constant bending situation
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Always?
FEM in Solid MechanicsGetting to know the elements
Distorted 9N – det(J)‡const
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Mesh
FEM in Solid MechanicsGetting to know the elements
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Vertical displacements
FEM in Solid MechanicsGetting to know the elements
Vertical displacement at the tip
Analytical= ML2/2EI 2.86
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FEM 0.74
FEM/Analytical 0.26
FEM in Solid MechanicsGetting to know the elements
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Shear stresses
Should be zero … but are only zero at the element center
FEM in Solid MechanicsGetting to know the elements
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Axial stresses
Bad results
FEM in Solid MechanicsGetting to know the elements
Locking in elasto-plastic problemsThe mixed elements
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The mixed elements
FEM in Solid MechanicsGetting to know the elements
p
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p
R=10
R=20
E=2.1E6ν=0.3σy=2100ET=0.0
FEM in Solid MechanicsGetting to know the elements
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Mesh
FEM in Solid MechanicsGetting to know the elements
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Lambda
Displacement Based Element
FEM in Solid MechanicsGetting to know the elements
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Mixed Element
FEM in Solid MechanicsGetting to know the elements
The displacement based element shows an improper hardeningThe mixed element shows the correct flat response
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HOWEVERHOWEVER
The pressure predictions clearly show whatdoes locking mean
FEM in Solid MechanicsGetting to know the elements
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Displacement based: locking
FEM in Solid MechanicsGetting to know the elements
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Mixed: non-locking
Structural Elements
Beam elements (Bernoulli and Timoshenko)Plate / Shell elements
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Plate / Shell elements
Structural ElementsThe Bernoulli (Hermitian) beam element (2 nodes only)
It is the classical beam we know from strengthof materials
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of materialsNo shear deformationNo stresses through the thickness
Cannot be used in conjunction with modern Cannot be used in conjunction with modern plate/shell elementsplate/shell elements
Structural ElementsThe Bernoulli (Hermitian) beam element: d.o.f.
12
6 6 d.o.fd.o.f. / node. / node
v
θy
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u
w
vθx
θz
Structural ElementsThe Bernoulli (Hermitian) beam element: d.o.f.
No shear deformation means:
v∂=θ
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x
w
x
v
y
z
∂
∂−=
∂
∂=
θ
θ
Structural ElementsTimoshenko (isoparametric) beam element(2,3 and 4 nodes to describe curved beams)
Includes shear deformationNo stresses through the thickness
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No stresses through the thickness
Can be used in conjunction with modern Can be used in conjunction with modern plate/shell elementsplate/shell elements
Structural ElementsTimoshenko (isoparametric) beam element
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6 6 d.o.fd.o.f. / node. / node
Structural ElementsTimoshenko (isoparametric) beam element
In order to avoid locking use:
Nodes Integration points
2 1
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2 1
3 2
4 3
Structural ElementsTimoshenko (isoparametric) beam element
Timoshenko beam element: locking Section
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M 1
1100
Structural ElementsTimoshenko beam element: locking
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Structural ElementsTimoshenko beam element: locking
Tip displacement
2-points integration along 0.74266E-3
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2-points integration along length
0.74266E-3
1-point integration along length(default in ADINA)
2.85714
Analytical 2.85714
Structural ElementsThe isoparametric shell element: geometric definition
5 d.o.f. / node
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Structural ElementsThe isoparametric shell element: locking
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Structural ElementsThe isoparametric shell element: locking
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Structural ElementsThe isoparametric shell element: locking
Use nonUse non--locking elements (e.g. MITC4)locking elements (e.g. MITC4)
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Structural ElementsThe isoparametric shell element: b.c.
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Structural ElementsThe isoparametric shell element: b.c.
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Structural ElementsThe isoparametric shell element: b.c.
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Structural ElementsThe isoparametric shell element: b.c.
6 d.o.f. at intersection nodes
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Structural ElementsThe isoparametric shell element: b.c.
6 d.o.f. at intersection nodes
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Nonlinear ProblemsIterative methods
PVW
σσσ += ∆− ttt
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σσσ += ∆− ttt
hence,
Nonlinear ProblemsIterative methods
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Nonlinear ProblemsIterative methods
Nomenclature:
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Hence, for equilibrium:
Nonlinear ProblemsIterative methods
Since the problem is nonlinear (plasticity, contacts, etc.) we must iterate to get the solution:
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Iterate until:
Nonlinear ProblemsIterative methods
We have plenty of freedom to select the matrix
because we just have to get,
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independently of the iteration path.
Iterative methods: full Newton, modified Newton, BFGS.Iterative methods: full Newton, modified Newton, BFGS.Combine with line searches.Combine with line searches.
Nonlinear ProblemsIterative methods
Iteration tolerances
A fundamental decision:
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A fundamental decision:If too restrictive we may not get a solutionIf too ample we may get a very bad solution
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Nonlinear ProblemsIterative methods
Examples:
P
Softening problem
Alone is not enough
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Alone is not enough
P
Stiffening problem
Alone is not enough
Nonlinear ProblemsIterative methods
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Cannot iterate controlling loadUse LDC (Collapse analysis in ADINA)
Nonlinear ProblemsIterative methods: LDC
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Dynamic Problems
)(tRUKUCUM =++•••
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)(tRUKUCUM =++
Dynamic ProblemsExplicit Integration
Conditionally stableCheapM: lumped
Tt <∆
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limTt <∆
Dynamic ProblemsExplicit Integration
Simple stability example 1
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lim2.0 Tt =∆ lim6.0 Tt =∆ lim9.0 Tt =∆
Dynamic ProblemsExplicit Integration
Simple stability example 1
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lim001.1 Tt =∆
Dynamic ProblemsExplicit Integration
Simple stability analysis 2
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Dynamic ProblemsExplicit Integration
Simple stability analysis 2
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lim02.0 Tt =∆ lim6.0 Tt =∆
Dynamic ProblemsExplicit Integration
Simple stability analysis 2
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lim001.1 Tt =∆
Dynamic ProblemsImplicit integration
Uconditionally stable
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Dynamic ProblemsNonlinear Analysis
Implicit No iterationsMay give incorrect solution
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May give incorrect solutionCareful
Explicit integration Iterate at every stepMay not convergeCareful