Chapter 4. J2 Plasticity Algorithms v1.0

Computational Solid Mechanics
Computational Plasticity
Chapter 4. J2 Plasticity Algorithms

C. Agelet de Saracibar
ETS Ingenieros de Caminos, Canales y Puertos, Universidad Politcnica de Catalua (UPC), Barcelona, Spain
International Center for Numerical Methods in Engineering (CIMNE), Barcelona, Spain
J2 Plasticity Algorithms > Contents
Contents
Contents
1. Introduction
2. J2 Rate independent plasticity models
1.
2.
3.
4.
Return mapping algorithm

Consistent elastoplastic tangent operator
Step by step algorithm
Nonlinear isotropic hardening
3. J2 Rate dependent plasticity models

1.
2.
3.
4.

4. J2 Computational plasticity assignment

April 1, 2015
Carlos Agelet de Saracibar
Contents
Contents
1. Introduction
1.
2.
3.
4.


1.
2.
3.
4.


April 1, 2015
J2 Plasticity Algorithms > Introduction
Time integration algorithm
En+1
Enp
April 1, 2015
Time integration
algorithm
p
En+
1
Contents
Contents
1. Introduction
1.
2.
3.
4.


1.
2.
3.
4.


April 1, 2015
J2 Plasticity Algorithms > Rate Independent Plasticity Models
J2 Rate independent plasticity model

1. Additive split of strains
E := Ee + E p, E :=
{, 0, 0} ,
E p :=
p
e
,
E
{
} :=
2. Constitutive equations
{ , , }
Ee (Ee ) =
S=
C Ee , S :=
{, q, q}, C := diag , K , 23 H 1
3. Associative plastic flow rule
p= f (S )
E
S
4. Yield function
f (S=
) : f ( , q, q=
):
dev q
2
3
( Y q=)
5. Kuhn-Tucker loading/unloading conditions
0,
April 1, 2015
f (S) 0, f (S) =
0

Associative plastic flow rule: plastic strains at time n+1
p= f (S )
E
S
Using a Backward-Euler (BE) time integration scheme yields,
Enp+1 =Enp + n +1 Sn+1 f (Sn +1 )

p
np+=
1
n + n +1n n +1
n + n +1 2 3
n +=
1
n n +1n n +1
1
n +=
April 1, 2015

Constitutive equations: stress state at time n+1
S=
Ee (Ee ) =
C Ee =
C (E E p ) , C := diag , K , 23 H 1
The time-discrete constituve equation at time n+1 takes the
form,
=
Sn +1 C=
Een +1 C (En +1 Enp+1 )
Substituting the plastic strains at time n+1 yields,
(
C (E
p
S=
C
E
E
n +1
n +1
n n +1 Sn+1 f (Sn +1 )
April 1, 2015
E
n +1
n ) n +1C Sn+1 f (Sn +1 )

Trial state at time n+1
The trial state at time n+1 is defined by freezing the plastic
behaviour at the time step
p
Enp+,trial
:
=
E
1
n
trial
p ,trial
Een,+=
:
E
E
1
n +1
n +1
e ,trial
p ,trial
p
Strial
:
=
C
E
=
C
E
E
=
C
E
E
( n+1 n+1 ) ( n+1 n )
n +1
n +1
trial
f ntrial
f
:
=
S
( n+1 )
+1
April 1, 2015

The return mapping algorithm takes the form,
Sn +1 =Strial
n +1 n +1 C Sn+1 f (Sn +1 )
trial
n +1 =
:
trial
n
=
n +1
n +1
n +1
n +1 n +1 2 n n +1
trial
q
=
:
q
n +1
n +1 n +1 K 2 3
2
trial
=
:
+
q
q
n +1
n +1 3 H n n +1
n +1
April 1, 2015
10

1. Additive split of strains at time n+1
e
p
E=
:
E
+
E
n +1
n +1
n +1
2. Stresses at time n+1. Return mapping algorithm
Sn +1 = Strial
n +1 n +1C Sn+1 f (Sn +1 )
3. Plastic internal variables at time n+1
Enp+1 =Enp + n +1 Sn+1 f (Sn +1 )
4. Yield surface at time n+1
f n=
f (Sn +1=
) : dev n+1 qn+1
+1 :
2
3
( Y qn+=
1)
5. Kuhn-Tucker loading/unloading conditions at time n+1
n +1 0,
April 1, 2015
f n +1 0, n +1 f n +1 =
0
11

Theorem 1. Elastic step/plastic step
If the yield function is convex and the constitutive matrix is
definite-positive, the following condition holds,
f (Strial
n +1 ) f (Sn +1 )
and Kuhn-Tucker loading/unloading conditions can be decided

just in terms of the trial state according to,
f (Strial
0 Elastic step
n +1 =
n +1 ) < 0
trial
f
S
n +1 > 0 Plastic step
(
n +1 ) > 0
April 1, 2015
12

Theorem 2. Closest-point-projection
The stress state at time n+1 is the closest-point-projection of the
trial stress state at n+1 onto the space of admissible stresses,
measured in the complementary energy norm,
trial
S
=
arg
min
S
( n+1 S) S E
n +1
where the complementary energy is given by,
(S
trial
n +1
S
=
)
1
2
trial
n +1
2
C 1
1
trial
1
trial
=
S
S
C
S
) ( n+1 S)
n +1
2(
April 1, 2015
15

Sn +1 =Strial
n +1 n +1 C Sn+1 f (Sn +1 )
trial
n +1 =
:
trial
n
=
n +1
n +1
n +1
n +1 n +1 2 n n +1
trial
q
=
:
q
n +1
n +1 n +1 K 2 3
2
trial
:
q
=
q
+
n +1
n +1 3 H n n +1
n +1
April 1, 2015
18

The solution for the return mapping algorithm yields,
n +1 q n +1 =
trial
n +1
trial
n +1
n +1 2 + H n n +1
2
3
2
trial
trial
n +1 q n +1 n n +1 =
trial
q
n
+
H n n +1
n +1
n +1
n +1
n +1
3
))
trial
trial
n +1 q n +1 + n +1 2 + 23 H n n +1 = trial
q
n
n +1
n +1
n +1
trial
n +1 q n +1 + n +1 2 + 32 H = trial
q
n +1
n +1
n n +1 = ntrial
n +1
April 1, 2015
19

For the non-trivial case (plastic loading), using the discrete KuhnTucker loading/unloading conditions, the discrete plastic
multiplier (or discrete plastic consistency parameter) reads,
f ( n +1 , qn +1 , q n +1 ) 0, n +1 f ( n +1 , qn +1 , q n +1 ) =
0
n +1 0,
if
f ( n +1 , qn +1 , q n +=
1)
=
dev n +1 q n +1
2
3
( Y qn+1 )
(
)
+ K + H)
, q ) ( 2 =
= ( 2 + K + H ) f
2
2
trial
+
+
K
H
trial
q
n +1
n +1
n +1
3
3
trial
f ( trial
,
q
n +1
n +1
n +1
April 1, 2015
f ( n +1 , qn +1 , q n +1 ) =
0
n +1 > 0 then
trial
n +1
2
3
n +1
2
3
2
3
2
3
2
3
trial
q
( Y n+1 )
trial
n +1
20

trial
n +1 =
trial
n
=
:
n +1
n +1
n +1
n +1 n +1 2 n n +1
trial
=
q
q
:
n +1
n +1 n +1 K 2 3
2
trial
q
=
q
+
:
n +1
n +1 3 H n n +1
n +1
2
2
trial
n +1 = n +1 2 + 3 K + 3 H
2
2
trial
q
:
q
2
K
H
=
+
+
n +1
n +1
3
3
q := q trial + 2 + 2 K + 2 H
n +1
3
3
n +1
(
(
(
April 1, 2015
)
)
)
trial
2
f ntrial
n
+1
n +1
f ntrial
+1 K 2 3
f
trial
n +1
2
H ntrial
n +1
3
21

Return mapping algorithm: Geometric interpretation
dev trial
n+1
dev n+1
dev n
n n+1
q n+1
qn
,n
Rn =
April 1, 2015
,n +1
2
3
ntrial
n+1
Rn +1 =
( Y q )
2
3
( Y q )
n +1
22

The update of the plastic internal variables takes the form,
p
np+=
1
n + n +1 n n +1
n + n +1 2 3
n +=
1
n n +1 n n +1
1
n +=
(
(
(
p = p + 2 + 2 K + 2 H
3
3
n +1 n
2
2
+
2
+
K
+
H
n +1
n
3
3
n +1 =n 2 + 23 K + 23 H
April 1, 2015
)
)
)
trial
f ntrial
n
+1
n +1
f ntrial
23
+1
trial
f ntrial
n
+1
n +1
23

The consistent elastoplastic tangent operator is computed taking
the variation of the stress tensor at time n+1, yielding,
n +1 =
trial
n +1
d n +1= d
2 + K + H
trial
n +1
2
3
2
3
2 + K + H
2
3
2 + K + H
2
3
2
3
2
3
trial
f ntrial
2
n
+1
n +1
trial
df ntrial
2
n
+1
n +1
trial
f ntrial
2
d
n
+1
n +1
where the variations of the trial stress tensor, trial yield function,
and trial unit normal to the yield surface at time n+1, have to be
computed.
April 1, 2015
24

The variation of the trial stress tensor at time n+1 takes the
form,
etrial
etrial
etrial
etrial
=
tr
+
2
tr
+
2
dev
trial
(
)
(
)
n +1
n +1
n +1
n +1
n +1
= ( tr n +1 ) 1 + 2 ( n +1 =
np ) ( tr n +1 ) 1 + 2 ( dev n +1 np )
etrial
etrial
etrial
etrial
d trial
d
d
=
tr
+
2
tr
+
2
dev
( n+1 )
( n+1 )
n +1
n +1
n +1
( tr d n +1 ) 1=
+ 2 d n +1 ( tr d n +1 ) 1 + 2 dev d n +1
= (1 1) : d n +1 + 2 d n +1 =
April 1, 2015
(1 1) + 2 ( 13 1 1) : d n +1
25

The variation of the trial yield function at time n+1 takes the
form,
f ntrial
+=
1
trial
dev trial
q
n +1
n +1
dev trial
n +1 q n
2
3
2
3
trial
( Y n+1 )
( Y qn )
trial
trial
trial
trial
dev
:
dev
df ntrial
d
d
=
q
n
=
n
+1
n +1
n
n +1
n +1
n +1 : 2 dev d n +1
= ntrial
n +1 : 2 d n +1
April 1, 2015
26

The variation of the unit normal to the yield surface at time n+1
takes the form,
ntrial
n +1
trial
dev trial
q
n +1
n +1
=
trial
dev trial
q
n +1
n +1
trial
dn=
n +1
1
dev trial
n +1 qn
1
dev trial
n +1 qn
1
dev trial
n +1 qn
1
dev trial
n +1 qn
April 1, 2015
dev trial
n +1 q n
dev trial
n +1 q n
trial
trial
dev d trial
dev
d
n +1
n +1
n +1 q n
trial
trial
trial
:
dev
d
n
n
( n+1 n+1 )
n +1
( n
trial
n +1
ntrial
n +1 ) : 2 dev d n +1
1
trial
trial
n +1
n +1 : 2 d n +1
27

Substituting the variations shown before, the following discrete
tangent constitutive equation can be obtained,
d n +1 = ep
n +1 : d n +1
where the consistent elastoplastic tangent operator at time n+1
is given by
ep
n +1
trial
= 1 1 + 2 n +1 I 1 1 2 n +1ntrial
n
n +1
n +1
3
and the following parameters have been introduced
2 n +1
2
n +1 :=1
, n +1 :=
(1 n +1 )
2
2
trial
2 + 3 K + 3 H
dev n +1 q n
April 1, 2015
28
J2 Plasticity algorithm
Step 1. Given the strain tensor at time n+1 (strain driven
problem), and the stored plastic internal variables at time n
(plastic internal variables database)
Step 2. Compute the trial state at time n+1
p
:
=
Enp+,trial
E
1
n
trial
p ,trial
:
Een,+=
E
E
1
n +1
n +1
e ,trial
p ,trial
p
:
=
=
Strial
C
E
C
E
E
C
E
E
( n+1 n+1 ) ( n+1 n )
n +1
n +1
trial
trial
f ntrial
:
dev
=
q
+1
n +1
n +1
April 1, 2015
2
3
trial
( Y n+1 )
29
Step 3. Check the trial yield function at time n+1
if f
trial
n +1
0 then set
( )n+1 =
( )n+1 ,
trial
ep
and exit
n +1 =
Step 4. Compute the discrete plastic multiplier at time n+1
n +1 = ( 2 + K + H ) f ntrial
+1
2
3
April 1, 2015
2
3
30
Step 5. Return mapping algorithm (closest-point-projection)
trial
f
Sn +1 =Strial
S
( n+1 )
n +1
n +1
Strial
n+1
2
2
trial
2
K
H
=
+
+
n +1
n +1
3
3
2
2
trial
:
2
q
q
K
H
=
+
+
n +1
n +1
3
3
q := q trial + 2 + 2 K + 2 H
n +1
3
3
n +1
(
(
(
April 1, 2015
)
)
)
trial
2
f ntrial
n
n +1
+1
f ntrial
+1 K 2 3
f
trial
n +1
2
H ntrial
n +1
3
31
Step 6. Update plastic internal variables database at time n+1
Enp+1 =Enp + n +1 Strial f (Strial

n +1 )
n+1
(
(
(
p = p + 2 + 2 K + 2 H
3
3
n +1 n
2
2
+
2
+
K
+
H
n +1
n
3
3
n +1 =n 2 + 23 K + 23 H
April 1, 2015
)
)
)
trial
f ntrial
n
+1
n +1
f ntrial
23
+1
trial
f ntrial
n
+1
n +1
32
Step 7. Compute the consistent elastoplastic tangent operator
ep
n +1
trial
= 1 1 + 2 n +1 I 1 1 2 n +1ntrial
n
n +1
n +1
3
2 n +1
2
, n +1 :=
n +1 :=1
(1 n +1 )
2
2
trial
2 + 3 K + 3 H
dev n +1 q n
April 1, 2015
33

q := = ( ) = ( )
Exponential saturation law + linear hardening
( ) = ( Y ) (1 exp ( ) ) + K
q := := ( Y ) (1 exp ( ) ) K
April 1, 2015
34

Time discrete nonlinear isotropic hardening
qn +1 := ( n +1 ) = n + n +1 2 3
trial
qntrial
:
(
n +1 ) = ( n ) = qn
+1
trial
q=
:
q
n +1
n +1 n + n +1 2 3 + ( n )
April 1, 2015
35

Plastic loading: Yield function at time n+1
2
=
f n +1 f ntrial
+
H
2
+1
n +1
3
2
3
( (
n + n +1
2
3
) (=))
n
Nonlinear residual scalar equation on the plastic multiplier at

time n+1
g=
f=
0
n +1 : g ( n=
+1 )
n +1
2
trial
g=
:
f
+
n +1
n +1
n +1
3
April 1, 2015
2
3
( (
n + n +1
2
3
))
) (=
n
36

Newton-Raphson iterative solution algorithm
Step 1. Initialize iteration counter and plastic multiplier
=
k 0,=
nk+1 0
Step 2. Compute the residual g at time n+1, iteration k

Step 3. While the absolute value of the current residual at time
n+1, iteration k, is greater than a tolerance
Step 4. Solve the linarized equation
g nk+1 + Dg nk+1 nk+1 =

0
Step 5. Update the plastic multiplier at time n+1, iteration k+1

+1
k
k
nk=
+1
n +1
n +1
Step 6. Compute the residual g at time n+1, iteration k+1

Step 7. Increment iteration counter k=k+1 and go to Step 3
April 1, 2015
37

g nk+1 + Dg nk+1 nk+1 =

0
2
k
+
g nk+1 :=
f ntrial
H
2
+1
n +1
3
2
3
( (
) ( ) )
H ) ( +
)
( +
) + H )
n + nk+1
Dg nk+1 nk+1 := 2 + 23
:= 2 + 23
2
3
k
n +1
2
3
k
2
n +1 3
2
3
k
2
n +1 3
k
n +1
k
n +1
nk+1 := nk++11 nk+1

April 1, 2015
38

the variation of the return mapping equation, yielding,
trial
trial
=
2
n +1
n +1
n +1
n +1
trial
trial
d n +1 =
d trial
d
d
n
2
2
n +1
n +1
n +1
n +1
n +1
where the variations of the trial stress tensor, plastic multiplier,

computed.
April 1, 2015
39

The variation of the plastic multiplier at time n+1 is computed
setting the variation of the residual equal to zero,
2
trial
g=
f
H
:
2
n +1
n +1
n +1
3
2
3
( (
n + n +1
2
2
trial
n + n +1
dg n=
df
d
H
:
2
+1
n +1
n +1
3
3
2
=: df ntrial
+
n + n +1
d
2
+1
n +1
3
d n +=
1
April 1, 2015
2 + n + n +1
2
3
2
3
+ H
2
3
2
3
2
3
) ( ) )
) d
n
2
3
n +1
+ 23 H= 0
df ntrial
+1
40

d n +1 = ep
n +1 : d n +1
is given by
ep
n +1
trial
= 1 1 + 2 n +1 I 1 1 2 n +1ntrial
n
n +1
n +1
3

2 n +1
2
n +1 :=1
, n +1 :=
(1 n +1 )
trial
2
2
2
dev n +1 q n
2 + 3 n + n +1 + 3 H
April 1, 2015
41
Contents
Contents
1. Introduction
1.
2.
3.
4.

Consistent elastoplastic tangent modulus

1.
2.
3.
4.


April 1, 2015
42
J2 Plasticity Algorithms > Rate Dependent Plasticity Models
J2 Rate dependent plasticity model

1. Additive split of strains
E := Ee + E p, E :=
{, 0, 0} ,
E p :=
p
e
,
E
{
} :=
2. Constitutive equations
{ , , }
Ee (Ee ) =
S=
C Ee , S :=
{, q, q}, C := diag , K , 23 H 1
3. Associative plastic flow rule
p= f (S )
E
S
4. Yield function
f (S=
) : f ( , q, q=
):
dev q
2
3
( Y q=)
5. Plastic multiplier
April 1, 2015
f (S ) 0
43

Associative plastic flow rule: plastic strains at time n+1
p= f (S )
E
S
Using a Backward-Euler (BE) time integration scheme yields,

p
Enp+=
E
1
n + n +1 t Sn+1 f (Sn +1 )
April 1, 2015
44

Constitutive equations: stress state at time n+1
S=
Ee (Ee ) =
C Ee =
C (E E p ) , C := diag , K , 23 H 1
The time-discrete constituve equation at time n+1 takes the
form,
=
Sn +1 C=
Een +1 C (En +1 Enp+1 )
Substituting the plastic strains at time n+1 yields,
(
C (E
=
Sn +1 C En +1 Enp n +1 t Sn+1 f (Sn +1 )
=
April 1, 2015
E
n +1
n ) n +1t C Sn+1 f (Sn +1 )
45

Trial state at time n+1
The trial state at time n+1 is defined by freezing the plastic
behaviour
p
Enp+,trial
:
=
E
1
n
trial
p ,trial
Een,+=
:
E
E
1
n +1
n +1
e ,trial
p ,trial
p
Strial
:
=
C
E
=
C
E
E
=
C
E
E
( n+1 n+1 ) ( n+1 n )
n +1
n +1
trial
f ntrial
f
:
=
S
( n+1 )
+1
April 1, 2015
46

trial
Sn +=
S
1
n +1 n +1 t C Sn+1 f (Sn +1 )
trial
n +1 = trial
:
t
=
n
n +1
n +1
n +1
n +1 n +1 2 n n +1
trial
:
q
q
=
n +1
n +1 n +1 t K 2 3
2
trial
:
t
H n n +1
=
+
q
q
n +1
n +1
n +1
3
April 1, 2015
47

1. Additive split of strains at time n+1
e
p
E=
:
E
+
E
n +1
n +1
n +1
2. Stresses at time n+1. Return mapping algorithm
trial
Sn +=
S
1
n +1 n +1t C Sn+1 f (Sn +1 )
3. Plastic internal variables at time n+1
p
Enp+=
E
1
n + n +1 t Sn+1 f (Sn +1 )
4. Yield surface at time n+1
f n=
f (Sn +1=
) : dev n+1 qn+1
+1 :
2
3
( Y qn+=
1)
5. Plastic multiplier at time n+1
=
n +1
April 1, 2015
f (Sn +1 ) 0
48

trial
Sn +=
S
1
n +1 n +1 t C Sn+1 f (Sn +1 )
trial
n +1 = trial
:
t
=
n
n +1
n +1
n +1
n +1 n +1 2 n n +1
trial
:
q
q
=
n +1
n +1 n +1 t K 2 3
2
trial
:
t
H n n +1
=
+
q
q
n +1
n +1
n +1
3
April 1, 2015
49

The solution for the return mapping algorithm yields,
n +1 q n +1 =
n +1 q n +1 n n +1=
trial
n +1
trial
n +1
n +1t 2 + H n n +1
2
3
2
trial
trial
trial
q
n
t
2
H n n +1
n +1
n +1
n +1
n +1
3
))
n +1 q n +1 + n +1t 2 + 23 H n n +1 =
n +1 q n +1 + n +1t 2 + 23 H =
trial
trial
trial
q
n
n +1
n +1
n +1
trial
trial
q
n +1
n +1
n n +1 = ntrial
n +1
April 1, 2015
50

For the non-trivial case (plastic loading), the discrete plastic
multiplier reads,
if
f ( n +1 , qn +1 , q n +=
1)
=
f ( n +1 , qn +1 , q n +1 ) =
n +1
n +1 > 0 then
dev n +1 q n +1
2
3
( Y qn+1 )
2
2
trial
2
t
K
H
+
+
trial
q
n +1
n +1
n +1
3
3
2
3
trial
q
( Y n+1 )
2
2
trial
trial
,
,
2
f ( trial
q
t
K
H n +1
=
+
+
q
)
n +1
n +1
n +1
n +1
3
3
trial
2
2
n +1=
t 2 + 3 K + 3 H + f n +1
t
April 1, 2015
51

trial
n +1 = trial
:
=
n
n +1
n +1
n +1
n +1 n +1 2 n n +1
trial
:
q
q
=
n +1
n +1 n +1t K 2 3
2
trial
:
t
H n n +1
=
+
q
q
n +1
n +1
n +1
3
1
trial
2
2
trial
trial
2
K
H
f
2
+
+
+
n
n +1
n +1
n +1
n +1
3
3
t
trial
2
2
trial
qn +1 := qn +1 2 + 3 K + 3 H + f n +1 K 2 3
t
trial 2
2
2
trial
q n +1 := q n +1 + 2 + 3 K + 3 H + f n +1 H ntrial
n +1
3
t
April 1, 2015
52

The update of the plastic internal variables takes the form,
April 1, 2015
np+1 = np + n +1t n n +1
n +1 = n + n +1t 2 3
n +1 =n n +1t n n +1
1
p
trial trial
2
2
p
n +1 = n + 2 + 3 K + 3 H + f n +1 n n +1
t
trial
2
2
n +1 = n + 2 + 3 K + 3 H + f n +1 2 3
t
trial trial
2
2
n +1 =n 2 + 3 K + 3 H + f n +1 n n +1
t
53

the variation of the stress tensor at time n+1, yielding,
1
n +1 =
trial
n +1
trial
2
2
2 + 3 K + 3 H + f n +1 2 ntrial
n +1
t
d n +1= d
trial
n +1
2
2
trial
n
2 + 3 K + 3 H + df ntrial
2
+1
n +1
t
trial
2
2
2 + 3 K + 3 H + f n +1 2 dntrial
n +1
t
where the variations of the trial stress tensor, trial yield function,
computed.
April 1, 2015
54

The variation of the trial stress tensor at time n+1 takes the
form,
etrial
etrial
etrial
etrial
=
tr
+
2
tr
+
2
dev
trial
(
)
(
)
n +1
n +1
n +1
n +1
n +1
= ( tr n +1 ) 1 + 2 ( n +1 =
np ) ( tr n +1 ) 1 + 2 ( dev n +1 np )
etrial
etrial
etrial
etrial
d trial
d
d
=
tr
+
2
tr
+
2
dev
( n+1 )
( n+1 )
n +1
n +1
n +1
( tr d n +1 ) 1=
+ 2 d n +1 ( tr d n +1 ) 1 + 2 dev d n +1
= (1 1) : d n +1 + 2 d n +1 =
April 1, 2015
(1 1) + 2 ( 13 1 1) : d n +1
55

The variation of the trial yield function at time n+1 takes the
form,
f ntrial
+=
1
trial
dev trial
q
n +1
n +1
dev trial
n +1 q n
2
3
2
3
trial
( Y n+1 )
( Y qn )
trial
trial
trial
trial
dev
:
dev
df ntrial
d
d
=
q
n
=
n
+1
n +1
n
n +1
n +1
n +1 : 2 dev d n +1
= ntrial
n +1 : 2 d n +1
April 1, 2015
56

The variation of the unit normal to the yield surface at time n+1
takes the form,
ntrial
n +1
trial
dev trial
q
n +1
n +1
=
trial
dev trial
q
n +1
n +1
trial
dn=
n +1
1
dev trial
n +1 qn
1
dev trial
n +1 qn
1
dev trial
n +1 qn
1
dev trial
n +1 qn
April 1, 2015
dev trial
n +1 q n
dev trial
n +1 q n
trial
trial
dev d trial
dev
d
n +1
n +1
n +1 q n
trial
trial
trial
:
dev
d
n
n
( n+1 n+1 )
n +1
( n
trial
n +1
ntrial
n +1 ) : 2 dev d n +1
1
trial
trial
n +1
n +1 : 2 d n +1
57

d n +1 = ep
n +1 : d n +1
is given by
ep
n +1
trial
= 1 1 + 2 n +1 I 1 1 2 n +1ntrial
n
n +1
n +1
3

2 n +1t
2
n +1 :=1
, n +1 :=
(1 n +1 )
trial
2
2
dev n +1 q n
2 + 3 K + 3 H +
t
April 1, 2015
58
Step 1. Given the strain tensor at time n+1 (strain driven
problem), and the stored plastic internal variables at time n
(plastic internal variables database)
Step 2. Compute the trial state at time n+1
p
:
=
Enp+,trial
E
1
n
trial
p ,trial
:
Een,+=
E
E
1
n +1
n +1
e ,trial
p ,trial
p
:
=
=
Strial
C
E
C
E
E
C
E
E
(
)
(
n +1
n +1
n +1
n +1
n +1
n )
trial
trial
f ntrial
:
dev
=
q
+1
n +1
n +1
April 1, 2015
2
3
qntrial
+1 )
59
Step 3. Check the trial yield function at time n+1
if f
trial
n +1
0 then set
ep
and exit
( )n+1 ( )n+1
n +1 =
trial
Step 4. Compute the discrete plastic multiplier at time n+1

1
trial
2
2
n +1=
t 2 + 3 K + 3 H + f n +1
t
April 1, 2015
60
Step 5. Return mapping algorithm (closest-point-projection)
trial
trial
t
f
Sn +=
S
C
S
(
trial
1
n +1
n +1
n +1 )
S
n+1
trial
2
2
trial
trial
+
+
+
2
K
H
f
2
n +1
n +1
n +1
n +1
3
3
t
trial
2
2
trial
qn +1 := qn +1 2 + 3 K + 3 H + f n +1 K 2 3
t
trial 2
2
2
trial
q n +1 := q n +1 + 2 + 3 K + 3 H + f n +1 H ntrial
n +1
3
t
April 1, 2015
61
Step 6. Update plastic internal variables database at time n+1
p
trial
Enp+=
E
S
+
t
f
(
trial
1
n
n +1
n +1 )
S
n+1
1
p
trial trial
2
2
p
n +1 = n + 2 + 3 K + 3 H + f n +1 n n +1
t
trial
2
2
n +1 = n + 2 + 3 K + 3 H + f n +1 2 3
t
trial
n +1 =n 2 + 23 K + 23 H + f ntrial
n
n +1
+1
April 1, 2015
62
Step 7. Compute the consistent elastoplastic tangent operator
ep
n +1
trial
n
= 1 1 + 2 n +1 I 1 1 2 n +1ntrial
n +1
n +1
3
2 n +1t
2
n +1 :=1
, n +1 :=
(1 n +1 )
trial
2
2
dev n +1 q n
2 + 3 K + 3 H +
t
April 1, 2015
63

q := = ( ) = ( )
Exponential saturation law + linear hardening
( ) = ( Y ) (1 exp ( ) ) + K
q := := ( Y ) (1 exp ( ) ) K
April 1, 2015
64

Time discrete nonlinear isotropic hardening
qn +1 := ( n +1 ) = n + n +1t 2 3
trial
qntrial
:
(
+1
n +1 ) = ( n ) = qn
trial
q=
:
q
n +1
n +1 n + n +1t 2 3 + ( n )
April 1, 2015
65

Plastic loading: Yield function at time n+1
2
=
+
f n +1 f ntrial
t
2
H
+1
n +1
3
2
3
( (
n + n +1t
2
3
) ( ) )
n
= n +1 > 0
Nonlinear residual scalar equation on the plastic multiplier at
time n+1
g n +1 :=g ( n +1 ) =f n +1 n +1 =0
g=
f
n +1 :
trial
n +1
April 1, 2015
2
n +1t 2 + 3 H +
t
2
3
( (
n + n +1t
2
3
))
) (=
n
66

Step 1. Initialize iteration counter and plastic multiplier
=
k 0,=
nk+1 0
Step 2. Compute the residual g at time n+1, iteration k

Step 3. While the absolute value of the current residual at time
n+1, iteration k, is greater than a tolerance
Step 4. Solve the linarized equation
g nk+1 + Dg nk+1 nk+1 =

0
Step 5. Update the plastic multiplier at time n+1, iteration k+1

+1
k
k
nk=
+1
n +1
n +1
Step 6. Compute the residual g at time n+1, iteration k+1

Step 7. Increment iteration counter k=k+1 and go to Step 3
April 1, 2015
67

g nk+1 + Dg nk+1 nk+1 =

0
g
Dg
k
n +1
k
n +1
k
n +1
:= f
trial
n +1
( (
2
3
k
n +1
2
t 2 + 3 H +
t
n + nk+1t
) ( ) )
n
2
2 + 3 H + n +1t 23 n + nk+1t 23 nk+1t
:=
t
2
2
k
2
:= 2 + 3 n + n +1t 3 + 3 H + n +1t
t
April 1, 2015
2
3
68

the variation of the return mapping equation, yielding,
trial
n +1 = trial
t
2
n
n +1
n +1
n +1
trial
trial
d n +1= d trial
t
2
t
2
d
n
n +1
n +1
n +1
n +1
n +1
where the variations of the trial stress tensor, plastic multiplier,

computed.
April 1, 2015
69

The variation of the plastic multiplier at time n+1 is computed
setting the variation of the residual at time n+1 equal to zero,
( (
2
trial
2
+
+
(=
g=
f
t
H
t
:
2
0
n +1
n +1
n +1
n
n +1
n)
3
3
3
t
2
trial
2
+
+
dg n=
df
d
t
H
t
d n +1t
:
2
+1
n +1
n +1
n
n +1
3
3
3
t
=: df
trial
n +1
d n +1t 2 + 32 n + n +1t
d n +1=
t 2 + 23 n + n +1t
April 1, 2015
2
3
+ 23 H +
2
3
)+
2
3
H+ =
0
t
trial
df
n +1
70

d n +1 = ep
n +1 : d n +1
is given by
ep
n +1
trial
= 1 1 + 2 n +1 I 1 1 2 n +1ntrial
n
n +1
n +1
3

2 n +1t
2
n +1 :=1
, n +1 :=
(1 n +1 )
trial
dev n +1 q n
2 + 23 n + n +1t 23 + 23 H +
April 1, 2015
71
Contents
Contents
1. Introduction
1.
2.
3.
4.


1.
2.
3.
4.


April 1, 2015
72
J2 Plasticity Algorithms > J2 Computational Plasticity Assignment
J2 Computational plasticity assignment

Implement in MATLAB the BE time-stepping algorithm for J2
rate-independent/rate-dependent hardening plasticity
models, including linear and nonlinear isotropic hardening,
and linear kinematic hardening
Perform the numerical simulation of uniaxial cyclic plastic
loading/elastic unloading examples for the following cases:
o Rate-independent/rate-dependent perfect plasticity
o Rate-independent/rate-dependent linear isotropic hardening plasticity
o Rate-independent/rate-dependent nonlinear isotropic hardening
plasticity, considering an exponential saturation law
o Rate-independent/rate-dependent linear kinematic hardening
plasticity
o Rate-independent/rate-dependent nonlinear isotropic and linear
kinematic hardening plasticity
April 1, 2015
73

For the perfect plasticity models, plot the stress11-strain11
and the dev[stress11]-strain11 curves.
For the linear isotropic/linear kinematic hardening models,
plot the stress11-strain11 and dev[stress11]-strain11 curves
showing the influence of the isotropic/kinematic hardening
parameters
For the nonlinear isotropic hardening model, plot the
stress11-strain11 and dev[stress11]-strain11 curves showing
the influence of the exponential coefficient of the exponential
saturation law
April 1, 2015
74

For the rate-dependent plasticity models, plot the stress11strain11, dev[stress11]-strain11, and the stress11-time and
dev[stress11]-time curves showing the influence of the
viscosity parameter and the loading rate.
Show that the rate-independent response can be recovered
from the rate-dependent results using very small values for
the viscosity or the loading rate
April 1, 2015
75

Write a comprehensive deliverable report (10 pages)
providing the data of the cyclic loading and material
properties considered, the stress-strain curves, and the
stress-time curves for the rate-dependent plasticity examples.
Add suitable comments on the results, comparing the
influence of the different material parameters and loading
conditions.
Add a printed copy of the subroutines as an Appendix
April 1, 2015
76

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Computational Solid Mechanics

Chapter 4. J2 Plasticity Algorithms

J2 Plasticity Algorithms > Contents

Return mapping algorithm

3. J2 Rate dependent plasticity models

Return mapping algorithm

4. J2 Computational plasticity assignment

Carlos Agelet de Saracibar

J2 Plasticity Algorithms > Contents

Return mapping algorithm

3. J2 Rate dependent plasticity models

Return mapping algorithm

4. J2 Computational plasticity assignment

Carlos Agelet de Saracibar

J2 Plasticity Algorithms > Introduction

Time integration algorithm

Carlos Agelet de Saracibar

J2 Plasticity Algorithms > Contents

Return mapping algorithm

3. J2 Rate dependent plasticity models

Return mapping algorithm

4. J2 Computational plasticity assignment

Carlos Agelet de Saracibar

J2 Plasticity Algorithms > Rate Independent Plasticity Models

J2 Rate independent plasticity model

5. Kuhn-Tucker loading/unloading conditions

J2 Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm

Using a Backward-Euler (BE) time integration scheme yields,

Enp+1 =Enp + n +1 Sn+1 f (Sn +1 )

Carlos Agelet de Saracibar

J2 Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm

Substituting the plastic strains at time n+1 yields,

Carlos Agelet de Saracibar

J2 Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm

Carlos Agelet de Saracibar

J2 Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm

Carlos Agelet de Saracibar

J2 Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm

2. Stresses at time n+1. Return mapping algorithm

3. Plastic internal variables at time n+1

Enp+1 =Enp + n +1 Sn+1 f (Sn +1 )

4. Yield surface at time n+1

5. Kuhn-Tucker loading/unloading conditions at time n+1

J2 Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm

and Kuhn-Tucker loading/unloading conditions can be decided

Carlos Agelet de Saracibar

J2 Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm

where the complementary energy is given by,

Carlos Agelet de Saracibar

J2 Plasticity Algorithms > Rate Independent Plasticity Models

Return mapping algorithm