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The Finite Element Method For The Analysis of Non-Linear and Dynamic Systems

This document provides an overview of nonlinear finite element analysis methods. It discusses the incremental formulation approach used to find equilibrium between applied loads and nodal forces over time steps. Various nonlinear solution algorithms are presented, including Newton-Raphson and modified Newton methods. The document also covers specialized techniques like the arc-length method for buckling analysis and provides an example problem of a simple bar analyzed using incremental nonlinear finite element analysis.

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110 views

The Finite Element Method For The Analysis of Non-Linear and Dynamic Systems

This document provides an overview of nonlinear finite element analysis methods. It discusses the incremental formulation approach used to find equilibrium between applied loads and nodal forces over time steps. Various nonlinear solution algorithms are presented, including Newton-Raphson and modified Newton methods. The document also covers specialized techniques like the arc-length method for buckling analysis and provides an example problem of a simple bar analyzed using incremental nonlinear finite element analysis.

Uploaded by

vcKamp
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PDF, TXT or read online on Scribd
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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!
Institute of Structural Engineering Method of Finite Elements II 2

Types of Response Diagrams Basic Types


F

Institute of Structural Engineering

Method of Finite Elements II

Types of Response Diagrams Complex Types

R U

Institute of Structural Engineering

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 ].
Institute of Structural Engineering Method of Finite Elements II 5

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

Institute of Structural Engineering

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

Institute of Structural Engineering

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.
Institute of Structural Engineering Method of Finite Elements II 9

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

Institute of Structural Engineering

Method of Finite Elements II

10

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
Institute of Structural Engineering Method of Finite Elements II 11

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

12

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
13

Method of Finite Elements II

Simple Bar Example - Revisited

Institute of Structural Engineering

Method of Finite Elements II

14

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

Institute of Structural Engineering

Method of Finite Elements II

15

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

Institute of Structural Engineering

Method of Finite Elements II

16

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

17

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

18

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 ) =
Institute of Structural Engineering

1x(1 + t ) (1 + 2t + t 2 )
19

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.

Institute of Structural Engineering

Method of Finite Elements II

20

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