Lecture in Nonlinear FEM

on

the Building- and Civil Engineering sectors 8.th. semester

for

the Building- and Civil Engineering, B8k, and

Mechanical Engineering, B8m

AALBORG UNIVERSITY ESBJERG, DENMARK

*****************
Theme:
Design of marine constructions.
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Nonlinear FEA, Dep. of Computational Mechanics, AAU Esbjerg, Denmark

Outline: Updated: 7. marts 2004

1. Introduction Notes
2. Geometrical nonlinearity - strain measures Cook 17.1, 17.9
3. Geometrical nonlinearity - appl. in buckling analysis Cook 17.10
4. Stress stiffness Cook 18.1-18.4
5. Buckling Cook 18.5-18.6
6. Material nonlinearity - introduction Cook 17.3-17.4
7. Material nonlinearity - solution methods Cook 17.6, 17.2
8. Contact nonlinearity Cook 17.8
9. Nonlinear dynamic problems Cook 11.1-11.5
10. Nonlinear dynamic problems Cook 11.11-11.18

Literature:
Noter → A. Kristensen: http://www.aue.auc.dk/education/m/m-tools.html
Cook → Cook, R. D. 2002: Concepts and applications of finite element anal-
ysis. John Wiley & Sons

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Nonlinear FEA, Dep. of Computational Mechanics, AAU Esbjerg, Denmark

6. Material nonlinearity - introduction

Programme:
Last time
Until now - Nonlinear problems 4
Until now - Material nonlinearity 8
Material nonlinearity 9
Plasticity 14
Plasticity - Yield criteria 15
Examples
Assignments

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Nonlinear FEA, Dep. of Computational Mechanics, AAU Esbjerg, Denmark

Until now - Nonlinear problems

Consider situations where the displacements are so large that the equilib-
rium equations must be formulated in a coordinate system which follows
the structure, while at the same time the material remains linear elastic fol-
lowing Hooke’s law. This could be the case for slender structures such as
masts and antennae.
On the other hand, the situation where the displacements are sufficiently
small to allow for the equilibrium equations to be formulated in the origi-
nal coordinate system, but where the stress-strain relation is nonlinear are
just as common. As examples, the simple tension and compression tests
of many engineering materials such as concrete, steel and soil produce
stress-strain curves which are nonlinear while the displacements are still
"small".

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Nonlinear FEA, Dep. of Computational Mechanics, AAU Esbjerg, Denmark

Until now - Nonlinear problems

Car crash simulation is such a problem. Here the displacements are large
while at the same time the stress levels are so high that the stress-strain
relation is nonlinear. Additionally, inertial and contact forces must be taken
into consideration. Another related problem is so-called push-over analysis
of offshore platforms. These types of problems almost always involve some
sort of material non- linearity, and thus, material nonlinearity can be viewed
both as one of the most common types of nonlinearities arising in real struc-
tures as well as a de-facto prerequisite for more advanced problems such
as the above mentioned.

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Nonlinear FEA, Dep. of Computational Mechanics, AAU Esbjerg, Denmark

Until now - Nonlinear problems

Types of structural nonlinearity classifications used in engineering prob-
lems:

Geometric nonlinearity
Material nonlinearity:
– time-independent behaviour such as plasticity
– time-dependent behaviour such as creep
– viscoelastic/viscoplastic behaviour where both plasticity and creep ef-
fects occur simultaneously
Contact or boundary nonlinearity

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Nonlinear FEA, Dep. of Computational Mechanics, AAU Esbjerg, Denmark

Until now - Nonlinear problems

Strain Rate effects:

• ε̇ < 10−5s−1 creep

• 10−4s−1 < ε̇ < 10s−1 nominal (tension tests)
• ε̇ > 102s−1 high strain rate (inertia and wave propagation)

If a specimen is held at constant strain, the stress will relax slowly. If the
straining is resumed, the specimen will behave as though the solid were
unloaded elastically. If the specimen is held at constant stress, the speci-
men will undergo slow, irreversible deformation, i.e. creep.

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Nonlinear FEA, Dep. of Computational Mechanics, AAU Esbjerg, Denmark

Until now - Material nonlinearity

Physical source: Material behavior depends on current deformation state
and possibly past history of the deformation. Other constitutive vari-
ables (prestress, temperature, time, moisture, electromagnetic fields,
etc.) may be involved.
Applications: Structures undergoing nonlinear elasticity, plasticity, vis-
coelasticity, creep, or inelastic rate effects.
Mathematical source: The constitutive equations that relate stresses
and strains. For a linear elastic material σi j = Ci jkl εkl reduces to:
· ¸
E ν
σi j = εi j + δi j εkk
1+ν 1 − 2ν
where the tensor Ci jkl contains elastic moduli E. If the material does not
fit the elastic model, generalizations of this equation are necessary, and
a whole branch of continuum mechanics is devoted to the formulation,
study and validation of constitutive equations.

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Nonlinear FEA, Dep. of Computational Mechanics, AAU Esbjerg, Denmark

Material nonlinearity
Nonlinear material response:

• Nonlinear elastic
• Plastic
• Viscoelastic
• Viscoplastic

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Nonlinear FEA, Dep. of Computational Mechanics, AAU Esbjerg, Denmark

Material nonlinearity
Idealized behaviour:

• Rigid-perfectly plastic or perfectly plastic

• Elastic-Perfectly Plastic or ideal elastoplastic
• Rigid-linear hardening
• Elastic-linear hardening or ideal elastoplastic with linear work hardening
or linear elastic-linear plastic
• Rigid-power law hardening
• Elastic-power law hardening or parabolic work hardening or nonlinear
elastic-nonlinear plastic

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Nonlinear FEA, Dep. of Computational Mechanics, AAU Esbjerg, Denmark

Material nonlinearity
Example: 3-rod problem ([NAFEMS]).

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Nonlinear FEA, Dep. of Computational Mechanics, AAU Esbjerg, Denmark

Material nonlinearity
Each rod is made of a elastic perfect plastic material with different yield
(1) (2) (3)
limits σ0 < σ0 < σ0 . Each rod has the length l, modulus of elasticity E
and cross-sectional area A. The rods are elongated with the displacement
u due to the force f .

Linear elastic behaviour: internal force in rod no. i: p(i) = EAu = l

(i)
Perfect plastic behaviour: internal force in rod no. i: p(i) = σ0 A

Equation of equilibrium:
{Rint } = {Rext } ⇒ R(u) = p(1) + p(2) + p(3)
NAFEMS p. 16: Figure 1.12.

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Nonlinear FEA, Dep. of Computational Mechanics, AAU Esbjerg, Denmark

Material nonlinearity

The slope of the force-deflection curve is termed the tangent-stiffness KT .

For the four parts of the curve KT is given as 3EA/L, 2EA/L, EA/L, and 0.

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Nonlinear FEA, Dep. of Computational Mechanics, AAU Esbjerg, Denmark

Plasticity
• Yield criterion or yield function, i.e. defines the state of stress at which
material response changes from elastic to plastic.
• Flow rule, i.e. relates plastic strain increments to stress increments after
the onset of initial yielding.
• Hardening rule, i.e. predicts the change in the yield surface due to plastic
strains.

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Nonlinear FEA, Dep. of Computational Mechanics, AAU Esbjerg, Denmark

Plasticity - Yield criteria

• Maximum principal stress criterion or Rankine’s criterion, i.e. Yielding
begins at a point in a member when the maximum principal stress reaches
a value equal to the tensile (or compressive) yield stress in uniaxial ten-
sion (or compression)
• Maximum principal strain criterion or St. Venant’s criterion, i.e. yield-
ing begins at a point in a member when the maximum principal strain
reaches a value equal to the yield strain in uniaxial tension
• Strain energy density criterion, i.e. yielding occurs when the strain en-
ergy density is equal to strain energy density at yield for the uniaxial
case
• Maximum shear-stress criterion or Tresca’s criterion, i.e. yielding occurs
when the maximum shear stress reaches the value of the maximum
shear stress at yield in uniaxial tension

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Nonlinear FEA, Dep. of Computational Mechanics, AAU Esbjerg, Denmark

Plasticity - Yield criteria

• Distortional energy density or von Mises criterion (Huber, Maxwell, Hencky),
i.e. yielding occurs when the distortional energy density reaches a value
equal to the distortional energy density at yield in a uniaxial case.
• Mohr-Coulomb criterion, i.e. generalized form of the Tresca criterion
where the limiting shear stress is not constant, but depends on the nor-
mal stress
• Drucker-Prager yield criterion, i.e. generalization of von Mise’s criterion
• Hill’s criterion for orthotropic materials

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Nonlinear FEA, Dep. of Computational Mechanics, AAU Esbjerg, Denmark

Plasticity
If an unloading is followed by a reversed loading, e.g. tension is followed
by compression, metals exhibit yielding at lower load than was the original
yield limit. This is termed the Bauschinger effect.
In a general multi-axial stress state, the hardening phenomena correspond
to change in the size/shape and/or translation of the original elastic domain.
This phenomenon is often simplified by assuming that the elastic domain
does not change in shape, but only uniformly expands (isotropic harden-
ing) or translates (kinematic hardening) or expands and translates (mixed
hardening) in the stress space.
Thus, basically two hardening rules exist:

• isotropic hardening F = |σ| − σ0 - Bauschinger effect is ignored but the

elastic range expands
• kinematic hardening F = |σ − α| − σY - Bauschinger effect is included but
elastic range remains constant

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