The Finite Element Method for the Analysis of Non-Linear and Dynamic Systems
Prof. Dr. Eleni Chatzi Lecture 3 - 9 October, 2012
Institute of Structural Engineering
Method of Finite Elements II
Introduction to Nonlinear Analysis
Conclusion from the previous example: The basic problem in general Nonlinear analysis is to nd a state of equilibrium between externally applied loads and element nodal forces
t t t
R t F = 0 R =t RB +t RS +t RC F=
m
tV m
B(m)T t (m) t d V(m)
where RB : body forces, RS : surface forces, RC : nodal forces We must achieve equilibrium for all time steps when incrementing the loading Very general approach Includes implicitly also dynamic analysis!
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Types of Response Diagrams Basic Types
F
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Method of Finite Elements II
Types of Response Diagrams Complex Types
R U
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Method of Finite Elements II
Solution Algorithms for NL equations
Root nding for single variable NL problems f (x ) = 0
Bisection Method Fixed Point Iteration
Write f (x ) = 0 in the form f (x ) = x q (x ), the solution x satises x = q ( x) Recurrence relation: xk +1 = g (xk ) Assumption: f [a, b ] and continuous Convergence: If g (x ) is dened over [a, b ] If f (a) > 0, f (b ) < 0 a x and a positive constant K exists with b such that f ( x) = 0 |g (x )| K , x [a, b ] then g (x ) has a c=(a+b)/2, check sign of f(c) and so on unique xed point x [a, b ].
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Solution Algorithms for NL equations
Root nding for single variable NL problems f (x ) = 0
Newton (Raphson) Method Secant Method
Dened by the recurrence relation xk +1 = xk
f (xk ) f (x k )
Dened by the recurrence relation
1 xk +1 = xk f (xk ) f (xkk)f k (x k 1 )
x x
terminate when |xk +1 xk | , Convergence: quadratic |x xk +1 | C |x xk +1 |2
<<
Convergence: superlinear order = 1+2 5 (golden ratio)
Method of Finite Elements II 6
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Newtons method for FE
Assume the general case where K is a nonlinear function of the displacement U : K(U )U = F In order to write it in the form f (x ) = 0, we dene the residual r(U ): r(U ) = K(U )U F r(U ) = 0 Then, the Newton iteration formula becomes: Uk +1 = Uk T1 (Uk )r(Uk ) The slope of the tangent (the tangent stiness) is T(Uk ) = d r(Uk ) d K(U )U F = |U =Uk dU dU d K(Uk ) T(Uk ) = K(Uk ) + Uk dU
Method of Finite Elements II 7
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Incremental Analysis
The basic approach in incremental analysis is: Find a state of equilibrium between externally applied loads and element nodal forces between successive time steps t
t +t t +t R
R t +t F = 0
Assuming that
is independent of the deformations we have
t +t
R = tF + F
We know the solution t F at time t and F is the increment in the nodal point forces corresponding to an increment in the displacements and stresses from time t to time t + t . This we can approximate by F = t KU
Institute of Structural Engineering
Method of Finite Elements II
Incremental Analysis
Newton-Raphson Method Assume the tangent stiness matrix: t F t U We may now substitute the tangent stiness matrix into the equilibrium relation
t
K=
KU = t +t R t F
which gives us a scheme for the calculation of the displacements:
t +t
U = tU + U
The exact displacements at time t + t correspond to the applied loads at t + t , however we only determined these approximately as we used a tangent stiness matrix thus we may have to iterate to nd the solution.
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Incremental Analysis
We may use the Newton-Raphson iteration scheme to nd the equilibrium within each load increment
t +t
K(i 1) U(i ) = t +t R t +t F
(i 1)
(out of balance load vector)
(i 1)
t +t
U(i ) = t +t U
+ U(i )
with Initial Conditions
t +t
U(0) = t U;
t +t
K(0) = t K;
t +t (0)
= tF
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Method of Finite Elements II
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Modied Newton (Raphson)Method
It may be expensive to calculate the tangent stiness matrix. In the Modied Newton-Raphson iteration scheme it is only calculated in the beginning of each new load step
t+Dt
R Standard NR Modified NR
t+Dt t
t+Dt
R DU
t 1
DU
DU
t+Dt
t+Dt
t+Dt
t+Dt
In the quasi-Newton iteration schemes the secant stiness matrix is used instead of the tangent matrix
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Special Considerations
Standard Newton-Raphon methods perform poorly for bucking problems, where the slope at limit points is exactly equal to 0
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Method of Finite Elements II
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Special Considerations
The Arc-Length Method for Nonlinear Post-Buckling
Also called Modied Riks Method. Control the size of the load step using a parameter . Solve for both and U in each Newton iteration. Assume F = independent of geometry. Then, can be thought of as a normalized load parameter and the residual is given by r(U , ) = K(U )U F The load increment is computed using =
2 s 2 Un
where the reference arc length is
2 s0 = Institute of Structural Engineering
F nloadstep
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Method of Finite Elements II
Simple Bar Example - Revisited
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Method of Finite Elements II
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Simple Bar Example - Revisited
Load step 1: t = 1: ( 0 K a + 0 K b )u (1) = 1R 1Fa(0) 1Fb(0) u (1) = 2 104 = 6.6667 103 1 1 107 ( + ) 10 5 Iteration 1: (i = 1) u = 1u (0) + u (1) = 6.6667 103 = =
1 (1)
1 (1)
1 (1) a
u = 6.6667 104 < Y (elastic section!) La u = 1.3333 103 < Y (elastic section!) Lb
1 1 1
1 (1) b 1
1 (1)
Fa(1) = 6.6667 103 ;
0 0 (2)
Fb(1) = 1.3333 10 4
Convergence in one iteration!
1
( K a + K b ) u
= R Fa(1) 1Fb(1) = 0
u = 6.6667 ` 103
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Method of Finite Elements II
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Simple Bar Example - Revisited
Load step 2: t = 2 : ( 1K a + 1K b ) u (1) = 2 R 2 Fa(0) 2 Fb(0) (4 104 ) (6.6667 103 ) (1.333 104 ) = 6.6667 10 3 1 7 1 10 ( + ) 10 5 Iteration 1: (i = 1) u (1) =
2 2 2 1
u (1) = 2u (0) + u (1) = 1.3333 10 2
(1) a = 1.3333 10 3 < Y (elastic section!)
b(1) = 2.6667 103 > Y (plastic section!)
1 (1) Fb(1) = ( E T ( 2 b Y ) + Y ) A = 2.0067 10 4
Fa(1) = 1.3333 10 4 ;
( 1K a + 1K b ) u (2) = 2 R 2 Fa(1) 2 Fb(1) u (2) = 2.2 103
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Method of Finite Elements II
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Simple Bar Example - Revisited
The procedure is repeated and the results of successive iterations are tabulated in the accompanying table.
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Method of Finite Elements II
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The Continuum Mechanics Incremental Equations
The basic Problem
Establish the solution using an incremental formulation. Two main approaches exist for establishing equilibrium Lagrangian Formulation: Track the movement of all particles of the body (located in a Cartesian coordinate system), in their motion from the original to the nal conguration (pathline) Eulerian Formulation: The motion of the material through a stationary control volume is considered (streamlines). Mainly used in uid mechanics.
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Method of Finite Elements II
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Lagrangian vs. Eulerian Formulation - 1D Example
Spatial or Eulerian coordinates (x): These coordinates are used to locate a point in space with respect to a xed basis. Material or Lagrangian coordinates (X): These coordinates are used to label material points. If we sit on a material point, the label does not change with time.
Example: Assume that the motion is x = (X, t ) = X(1 + 2t + t 2 ) The inverse of the map gives us X in terms of x, i.e., X = 1 (x, t ) = x (1 + 2t + t 2 )
Then, the displacement of the material point X is u(X, t ) = (X, t ) (X, 0) = X(2t + t 2 ) The velocity of the material point is (Langrangian Description) v(X, t ) = u = 2X(1 + t ) t
Alternatively we can express the velocity in terms of x (Eulerian Description) v(X, t ) = v(1 (x, t ), t ) =
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1x(1 + t ) (1 + 2t + t 2 )
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Method of Finite Elements II
Lagrangian Formulation
In solids we use the Lagrangian approach as the solution process moves from time t to t + t iteratively following elements of the body in their motion.
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Method of Finite Elements II
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