Non-Linear Finite Element Methods in Solid Mechanics
Transcript of Non-Linear Finite Element Methods in Solid Mechanics
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Politecnico di Milano, February 17, 2017, Lesson 5
Non-Linear Finite Element Methods in Solid MechanicsAttilio Frangi, [email protected]
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Politecnico di Milano, February 17, 2017, Lesson 5 2
Outline
Lesson 1-2: introduction, linear problems in staticsLesson 3: dynamicsLesson 4: locking problemsLesson 5: geometrical non-linearitiesLesson 6-7: small strain plasticity
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Politecnico di Milano, February 17, 2017, Lesson 5
Lesson 5: Introduction to non linear analysis
1. Sources of non-linearitiesUnilateral contactFracture propagationNon-linear constitutive lawsGeometrical non-linearities
2. Methods of numerical solutionNon linear equations: Newton-like iterative algorithmsExample of iterative algorithm: large transformations
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Politecnico di Milano, February 17, 2017, Lesson 5 4
Example of analytical solution: spherical rigid indenter against a deformable surface (Hertz solution, 1882)
Radius of the contact region a and indentation depth depend non-linearly on force P
Example: Hertz contact
The behaviour of a system of two solids in contact is a nonlinear functionof external loading even if the deformable solid is linear elastic
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Politecnico di Milano, February 17, 2017, Lesson 5 5
Unilateral contact (infinitesimal transformations)
Unilateral contact without friction
slave surface
master surface
Select a master surface and a slave surface.
The nodes of the slave surface cannot penetrate the master surface
: gap along normal direction
no tangential force
compression!
no compenetration
complementarity
Sc area of potential contact
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Politecnico di Milano, February 17, 2017, Lesson 5
Lesson 5: Introduction to non linear analysis
1. Sources of non-linearitiesUnilateral contactFracture propagationNon-linear constitutive lawsGeometrical non-linearities
2. Methods of numerical solutionNon linear equations: Newton-like iterative algorithmsExample of iterative algorithm: large transformations
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Politecnico di Milano, February 17, 2017, Lesson 5 7
Fracture propagation
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Politecnico di Milano, February 17, 2017, Lesson 5
Lesson 5: Introduction to non linear analysis
1. Sources of non-linearitiesUnilateral contactFracture propagationNon-linear constitutive lawsGeometrical non-linearities
2. Methods of numerical solutionNon linear equations: Newton-like iterative algorithmsExample of iterative algorithm: large transformations
Plasticity; lessons 6-7
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Politecnico di Milano, February 17, 2017, Lesson 5
Lesson 5: Introduction to non linear analysis
1. Sources of non-linearitiesUnilateral contactFracture propagationNon-linear constitutive lawsGeometrical non-linearities
2. Methods of numerical solutionNon linear equations: Newton-like iterative algorithmsExample of iterative algorithm: large transformations
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Politecnico di Milano, February 17, 2017, Lesson 5 10
Geometrical non-linearities
shear bucklingof a membrane
more than one possible solution.Transition betweendifferent solutionsvia buckling
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Politecnico di Milano, February 17, 2017, Lesson 5 11
Geometrical non-linearities parachute instability
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Politecnico di Milano, February 17, 2017, Lesson 5 12
Tetra Pak
Example of highly non-linear problem
contact with friction fracture with unknown path non-linear constitutive law (damage like) large displacements
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Politecnico di Milano, February 17, 2017, Lesson 5 13
Geometrical non-linearities, “very large” transformations
lagrangian (typical of solid mechanics) vs eulerian (typical of fluid mechanics) approaches
Tetra Pak
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Politecnico di Milano, February 17, 2017, Lesson 5 14
Geometrical non-linearities, “very large” transformations
casting applications
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Politecnico di Milano, February 17, 2017, Lesson 5
Lesson 5: Introduction to non linear analysis
1. Sources of non-linearitiesUnilateral contactFracture propagationNon-linear constitutive lawsGeometrical non-linearities
2. Methods of numerical solutionNon linear equations: Newton-like iterative algorithmsExample of iterative algorithm: large transformations
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Politecnico di Milano, February 17, 2017, Lesson 5 16
Numerical solution of a non-linear scalar equation
Find u such that r(u)=0
Iterative procedure: create a sequence u(k) → u such that r(u)=0
Newton-Raphson method: truncated first order series expansion of r(u(k+1)) around u(k)
and solution of the associated linear equation
u(1) u(2)u(0)
u
r(u)
EXERCISE
apply to r(u)=-3+(u+1)2
1) compute r’2) linearization - expansion
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Politecnico di Milano, February 17, 2017, Lesson 5 17
Quadratic convergence of the Newton-Raphson method
Newton-Raphson method: quadratic convergence speed in the vicinity of the solution
Setting e(k) = u(k) - u (error w.r.t. solution) for any k, one has:
Taylor expansion with remainder for r(u(k)) and r’(u(k)) around the exact solution u
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Politecnico di Milano, February 17, 2017, Lesson 5 18
Divergence examples of the Newton-Raphson method
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Politecnico di Milano, February 17, 2017, Lesson 5 19
Convergence of the Newton-Raphson method
u(0)=0
u
r(u)
u2(0)
u2(1) u2
(3)
r(u) = 0
sequence of N sub-problems
the solution of i-th sub-problemis employed as initial guess for(i+1)-th sub-problem
r(u) = (N-i)/N r(u(0)) i=1 … N r(u(0))
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Politecnico di Milano, February 17, 2017, Lesson 5 20
Modified Newton-Raphson method - 1
u
u(0) u(1) u(2)
r(u)r’(u) replaced with a constant K, which gives
u(3)
The convergence is only linear near the solution
K might be the tangentat the initial estimate
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Politecnico di Milano, February 17, 2017, Lesson 5 21
Modified Newton-Raphson method - 2
Approximate tangent with segment passing through the two previous estimates
u
u(0) u(1) u(2)
r(u)
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Politecnico di Milano, February 17, 2017, Lesson 5 22
Non linear system: Newton-like iterative algorithms
The analysis of structures often leads to the solution of a system of non-linear equations:
(typically: weak enforcement of equilibrium with PPV + constitutive laws)see e.g. the examples in the sequel
In the linear elastic case (lessons 1-3) one would have:
Newton-like algorithms: iterative approaches for the numerical solution ofa system of non-linear equations
total value of displacement or increment in an interative procedure
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Politecnico di Milano, February 17, 2017, Lesson 5 23
Solution of a system of a non-linear system with NR technique
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Politecnico di Milano, February 17, 2017, Lesson 5
Lesson 5: Introduction to non linear analysis
1. Sources of non-linearitiesUnilateral contactFracture propagationNon-linear constitutive lawsGeometrical non-linearities
2. Methods of numerical solutionNon linear equations: Newton-like iterative algorithmsExample of iterative algorithm: large transformations
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Politecnico di Milano, February 17, 2017, Lesson 5 25
Geometrical non-linearities: buckling of a beam in compression
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Politecnico di Milano, February 17, 2017, Lesson 5
Buckling of a beam in compression
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Politecnico di Milano, February 17, 2017, Lesson 5 27
deformation gradientGreen Lagrange tensor
(second) Piola (Kirchhoff)
first Piola Kirchhoff
Saint Venant Kirchhoff model for large displacements butsmall strain case (typical of buckling analysis)
Summary of background
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Politecnico di Milano, February 17, 2017, Lesson 5 28
Summary of background
here assumed givenhere assumed 0
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Politecnico di Milano, February 17, 2017, Lesson 5 29
Geometrical non-linearities, finite transformations
velocity strain tensor
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Politecnico di Milano, February 17, 2017, Lesson 5 30
Summary of background
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Politecnico di Milano, February 17, 2017, Lesson 5 31
Newton iterative procedure
given the current iterate
find the new iterate
through a linearization of the residuum:
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Politecnico di Milano, February 17, 2017, Lesson 5 32
Newton iterative procedure
Linearization of the residuum:
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Politecnico di Milano, February 17, 2017, Lesson 5 33
Newton iterative procedure
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Politecnico di Milano, February 17, 2017, Lesson 5 34
………
Element procedures for a T6
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Politecnico di Milano, February 17, 2017, Lesson 5 35
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Politecnico di Milano, February 17, 2017, Lesson 5 36
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Politecnico di Milano, February 17, 2017, Lesson 5 37
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Politecnico di Milano, February 17, 2017, Lesson 5 38
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Politecnico di Milano, February 17, 2017, Lesson 5 39
loading sequence
initialisation of each step