Lecture 6:

Advanced Models
16.0 Release

ANSYS Mechanical
Advanced Nonlinear Materials
1

2011 ANSYS, Inc.

May 27, 2015

Release 14.0

Advanced Material Models

In this lecture we will discuss more advanced nonlinear material options
A. Mullins Effect
B. Anisotropic Hyperelasticity
C. Bergstrom-Boyce Hyperelasticity
D. Shape Memory Alloy

2015 ANSYS, Inc.

May 27, 2015

A. Mullins Effect
Mullins effect is a stretch softening phenomenon
observed in elastomeric materials undergoing
cyclic loading.
When an elastomer is loaded in simple tension
from its virgin state, unloaded and then reloaded,
the stress required on reloading is less then that
on the initial loading for stretches up to the
maximum stretch achieved on the initial loading.
During reloading, as the reloading strain
approaches the maximum strain seen in its prior
strain history, the stress-strain behavior begins to
stiffen and rejoin the reference virgin curve; upon
reaching the reference virgin curve, the stressstrain behavior follows that of the virgin stressstrain behavior.

2015 ANSYS, Inc.

May 27, 2015

 Mullins Effect
Phenomenon typically observed in compliant filled polymers.
Characterized by a decrease in material stiffness during loading
Readily observed during cyclic loading as the material response along the
unloading path differs noticeably from the response that along the loading path.

Although the details about the mechanisms responsible for the Mullins
effect have not yet been settled, they might include:
Debonding of the polymer from the filler particles
Separation of particle clusters
Rearrangement of the polymer chains and particles.

2015 ANSYS, Inc.

May 27, 2015

Mullins Effect
The Ogden Roxburgh pseudo-elastic model of the Mullins effect is a modification
of the standard thermodynamic formulation for hyperelastic* materials and is
given by:

W ( Fij, ) Wo( Fij ) ( )

Where:

WO( Fij )

( )

is the virgin strain energy potential

without Mullins effect
is an evolving scalar damage variable
is the damage function

* The virgin material is modeled using one of the available hyperelastic potentials, and
the Mullins effect modifications to the constitutive response are proportional to the
maximum load in the material history.
5

2015 ANSYS, Inc.

May 27, 2015

Mullins Effect
The arbitrary limits 0 1.0
are imposed with 1 defined as the
state of the material without any changes due to the Mullins effect.
Then along with equilibrium, the damage function is defined by:

(1) 0
( ) WO( Fij )
Which implicitly defines the Ogden Roxburgh parameter

2015 ANSYS, Inc.

May 27, 2015

Mullins Effect
The 2nd Piola-Kirchoff stress tensor is:

W
WO
Sij 2
2
Cij
Cij
The modified Ogden-Roxburgh damage function available in ANSYS has the
following functional form of the damage variable

Wm WO
1
1 erf

r
m

b
L
m

Where:

r, m and b are user defined material damage parameters

Wm maxWo(t ) is the maximum virgin potential over the time

interval t 0, t 0

2015 ANSYS, Inc.

May 27, 2015

Mullins Effect
The parameters used in the Ogden-Roxburgh damage can be defined in
Engineering Data provided a hyperelastic material model is first defined.

Supports all hyperelastic models except foam

2015 ANSYS, Inc.

May 27, 2015

Mullins Effect
Effect can be plotted via Chart Tool
LS07

LS05
LS03
LS08

LS01

LS02

2015 ANSYS, Inc.

May 27, 2015

LS04

LS06

Mullins Effect
References on Mullins Theory:
1. Section 4.8 of ANSYS 14.0 Theory Manual
2. Ogden & Roxburgh; Pseudo-elastic model for Mullins effect in filled rubber, 1999

3. H.J.Qi,MC Boyce; Constitutive Model for stretch-induced softening of the stress-strain

behavior of elastomeric materials, 2004

10

2015 ANSYS, Inc.

May 27, 2015

Workshop Exercise
Please refer to your Workshop Supplement:
Workshop 6A: Mullins Effect

11

2015 ANSYS, Inc.

May 27, 2015

B. Anisotropic Hyperelasticity
Anisotropic Hyperelasticity can be used to model
materials that exhibit direction-dependent large
elastic strains, such as biomaterials or reinforced
elastomer composites.
One way to view anisotropic hyperelasticity is that
there may be fibers (or reinforcements) in an
elastomer-like matrix.
Up to two preferred fiber directions A and B, with
corresponding material parameters, can be
specified.

12

2015 ANSYS, Inc.

May 27, 2015

 Anisotropic Hyperelasticity
Recall that there are several isotropic hyperelastic
constitutive models available in ANSYS. Many of
these (e.g., Mooney-Rivlin, Yeoh, Arruda-Boyce,
Gent, Blatz-Ko) are based on the first three strain
invariants, as shown on the left

The Cauchy-Green tensor C is used here, although the

invariants can also be expressed as a function of the
principal stretch ratios li.
The second strain invariant is neglected in some
hyperelastic strain energy functions, such as ArrudaBoyce, Gent, and Yeoh
The third strain invariant provides a measure of the
volume change J of the element. If the material is fully
incompressible, I3=J2=1.

13

2015 ANSYS, Inc.

May 27, 2015

I1 trC

1 2
I 2 tr C trC 2
2
I 3 det C J 2

 Anisotropic Hyperelasticity
Two material directions (vectors A and B) in the
undeformed configuration characterize the
anisotropy of the material.

In order to represent anisotropic behavior, an

additional six strain invariants are required I4-I9.

The ninth strain invariant does not depend on the
deformation

I 4 A CA
I5 A C A
2

I 6 B CB
I 7 B C2B

I 8 A B A CB
I 9 A B

14

2015 ANSYS, Inc.

May 27, 2015

 Anisotropic Hyperelasticity
In the case of fibers in a matrix that produce
anisotropy in two directions A and B, one can
ascribe some meaning to the various strain
invariants:

The first two strain invariants describe the behavior

of the matrix material

The third strain invariant is related to the degree of
incompressibility of the material
The fourth and sixth strain invariants represent the
fiber characteristics
The fifth and seventh strain invariants are associated
with fiber-matrix interactions
The eighth strain invariant can be thought of as being
related to fiber-fiber interaction

I1 trC

1 2
I 2 tr C trC 2
2
I 3 det C J 2

I 4 A CA
I 5 A C2 A
I 6 B CB
I 7 B C2B

I 8 A B A CB
I 9 A B

15

2015 ANSYS, Inc.

May 27, 2015

 Anisotropic Hyperelasticity
The strain energy density function for anisotropic hyperelasticity can be
decomposed into two parts deviatoric Wd and volumetric Wv. Moreover,
the deviatoric term can be separated into both isotropic and anisotropic
parts:

WAHYPER Wd Wv

Wd ,iso Wd ,aniso Wv
The volumetric term Wv is a familiar equation arising in other nearly-/fullyincompressible strain energy density functions and is a function of J (third
strain invariant) only:

1
2
Wv J 1
d
16

2015 ANSYS, Inc.

May 27, 2015

 Anisotropic Hyperelasticity
The anisotropic hyperelastic material model can be defined via APDL
commands only (TB,AHYPER, TBTEMP and TBDATA):
Can also be combined with viscoelasticity (TB,PRONY)
Viscoelastic behavior is assumed to be isotropic
The volumetric term Wv is a familiar equation arising in other nearly-/fullyincompressible strain energy density functions and is a function of J (third strain
invariant) only

1
2
Wv J 1
d

The material compressibility parameter d is input via:

TB,AHYPER,,,1,PVOL and TBDATA,1,d

One can estimate d=2/ko, where ko is the initial bulk modulus of the material.
For fully-incompressible behavior, d=0.
17

2015 ANSYS, Inc.

May 27, 2015

 Anisotropic Hyperelasticity
Two expresssions are available for characterizing the isochoric part of the
strain energy potential
Polynomial (Defined with TB,AHYPER,,,Poly):

Exponential: (Defined with TB,AHYPER,,,Expo):

18

2015 ANSYS, Inc.

May 27, 2015

 Anisotropic Hyperelasticity
Note: The first two terms of the expressions on previous slide represent the
deviatoric component related to isotropic behavior Wd,iso This is very similar
to the general polynomial form without cij cross-terms:

Wd ,iso ai I1 3 b j I 2 3
3

i 1

j 1

The six constants ai and bi are via TB,AHYPER,,,POLY or TB,AHYPER,,,EXPO and

TBDATA,1,a1,a2,a3,b1,b2,b3
If bi=0, the isotropic term becomes the 3rd order Yeoh model. If only a1 is present,
it is like the neo-Hookean model.

The remaining terms of the expressions on previous slide represent the

deviatoric component related to the anisotropic behavior, Wd,aniso using
the fourth through ninth strain invariants.

19

2015 ANSYS, Inc.

May 27, 2015

 Anisotropic Hyperelasticity
The A material direction constants (AX, AY, AZ) are input via TB,AHYPER,,,3,AVEC and

TBDATA,1,AX,AY,AZ
The B material direction constants (BX, BY, BZ) are input via TB,AHYPER,,,3,BVEC and
TBDATA,1,BX,BY,BZ
The material anisotropy is defined with these two vectors A and B, not with the
element coordinate system ESYS
Vectors A and B can have arbitrary directions and need not be orthogonal
The magnitude of the vectors |A| and |B| will be scaled internally to be equal to 1.
For the case when the hyperelastic material is orthotropic:
Constants go are not required because I8=I9=0
If the hyperelastic material is transversely isotropic:
Constants em, fn, and go are not required because I6=I7=I8=I9=0
Constants (BX, BY, BZ) are not required

The anisotropic hyperelastic constants may also be temperature-dependent

Use the TBTEMP command to define temperature-dependent data

20

2015 ANSYS, Inc.

May 27, 2015

 Anisotropic Hyperelasticity
Sample input script for
Anisotropic Hyperelasticity:

To combine with viscoelasticity,

add prony series definition:

21

2015 ANSYS, Inc.

May 27, 2015

C. Bergstrom-Boyce Hyperelasticity
When rubber material is compressed for extended period of time, sometimes it
loses its ability to return to its undeformed state. This loss of elasticity may
reduce the efficiency of an elastomeric gasket, seal or cushioning pad to perform
over its operating life. The resulting permanent set that a gasket/seals may cause
a leak or reduce cushioning effect of a pad.
Bergstrom-Boyce material model can be used for predicting permanent set. The
time dependent material properties (C5, C7,C8) of BB model can be adjusted such
that the viscoelastic strains can be treated as Pseudo plastic strains.
-1.8
-1.6
-1.4
True Stress

-1.2
-1

Permanent
set

-0.8
-0.6
-0.4
-0.2
0
0

22

2015 ANSYS, Inc.

May 27, 2015

-0.2

-0.4

-0.6
True Strain

-0.8

-1

... Bergstrom-Boyce Hyperelasticity

The Bergstrom-Boyce material model is a phenomenological-based, highly
nonlinear material model used to model typical elastomers and biological
materials.
It allows for a nonlinear stress-strain relationship, creep, and rate-dependence.
It assumes an inelastic response only for shear distortional behavior. The
response for volumetric is still purely elastic
The model is based on a spring (A) in parallel
with a spring and damper (B) in series.
All components (springs and damper) are highly
nonlinear.

23

2015 ANSYS, Inc.

May 27, 2015

 Bergstrom-Boyce Hyperelasticity
The stress state in A can be found in the tensor form of the deformation
gradient tensor (F = dxi / dXj) and material parameters, as follows:

24

2015 ANSYS, Inc.

May 27, 2015

 Bergstrom-Boyce Hyperelasticity
L-1(X) is the inverse Langevin function given by:

This approximation will differ from the polynomial approximation used for
the Arruda-Boyce model.

25

2015 ANSYS, Inc.

May 27, 2015

 Bergstrom-Boyce Hyperelasticity
The stress in the viscoelastic component of the material (B) is a function of
the deformation and the rate of deformation.

- Of the total deformation in B, a portion takes place in the elastic component while
the rest of the deformation takes place in the viscous component.

- Because the stress in the elastic portion is equal to the stress plastic portion, the
total stress can be written merely as a function of the elastic deformation
- All variables in this equation are analogous to the variables for s A

The stress tensor from component B is added to the stress tensor from
component A to find the total stress

26

2015 ANSYS, Inc.

May 27, 2015

 Bergstrom-Boyce Hyperelasticity
The Bergstrom-Boyce (or BB) material model can be defined via APDL
commands only (TB,AHYPER, TBTEMP and TBDATA):
Issue the TBDATA data table command to input the constant values in the
order shown:

27

2015 ANSYS, Inc.

May 27, 2015

 Bergstrom-Boyce Hyperelasticity
Sample input script for BB model

BB cannot be combined with any other material models

28

2015 ANSYS, Inc.

May 27, 2015

 Permanent set in Elastomers

General Tips:
1.Smaller the value of C5, the more significant is the hysteresis and hence higher
the Pseudo plastic strains.
2.As the value of C6 increases, the amount of hysteresis decreases and hence less
Pseudo plastic strains.

-2
-1.8
-1.6
-1.4
-1.2
-1
-0.8
-0.6
-0.4
-0.2
0

0.4

C1_b = 5
C1_b = 1
C1_b = 0.5
C1_b = 0.1
C1_b = 0.05

Pseudo Plastic Strain

Ture Stress (MPa)

3.As the value of C7 increases, hysteresis also increases and thus high Pseudo
plastic strains.
0.35
0.3
0.25
0.2
0.15
0.1
0.05
0
0
0.00

-0.20

-0.40

-0.60

-0.80

-1.00

True Strain

Sensitivity with respect to material constant C5

29

2015 ANSYS, Inc.

May 27, 2015

C1_b (material constant C5)

 Permanent set in Elastomers

0.16

-1.8
C = -2.5

-1.4

C = -2

-1.2

0.12

C = -1.5

-1

C = -1

-0.8

C = -0.8

-0.6

C = -0.6

-0.4

C = -0.4

-0.2

0.14
Pseudo Plastic Strain

True Stress (MPa)

-1.6

-0.2

-0.4

-0.6

-0.8

0.08
0.06
0.04
0.02
0

C = -0.2

0.1

-1

-0.5

-1

-1.5

-2

-2.5

-3

C (Material Constant C6)

True Strain

Sensitivity with respect to material constant C6

0.11
-1.8

True Stress (Mpa)

-1.4

m=2

-1.2

m = 2.5

-1

m=3

-0.8

m = 3.5

-0.6
-0.4

m=4

-0.2

m = 4.5

-0.2

-0.4

-0.6

True Strain
30

2015 ANSYS, Inc.

May 27, 2015

-0.8

-1

Pseudo Plastic Strain

0.09

-1.6

0.07

0.05
0.03
0.01
-0.01
2

2.5

3.5

m (Material Constant C7)

Sensitivity with respect to material constant C7

4.5

 Permanent set in Elastomers

References on Bergstrom Boyce Model:
1. Section 4.7 of ANSYS 14.0 Theory Manual
2. J.S. Bergstrom and M.C. Boyce. Constitutive Modeling of the Large Strain TimeDependent Behavior of Elastomers. Journal of the Mechanics and Physics of Solids. Vol.
46. 931-954. 1998.
3. J.S. Bergstrom and M.C. Boyce. Large Strain Time-Dependent Behavior of Filled
Elastomers,. Mechanics of Materials. Vol. 32. 627-644. 2000.
4. H. Dal and M. Kaliske. Bergstrom-Boyce Model for Nonlinear Finite Rubber
Viscoelasticity: Theoretical Aspects and Algorithmic Treatment for the FE Method.
Computational Mechanics. Vol. 44. 809-823. 2009.

31

2015 ANSYS, Inc.

May 27, 2015

Workshop Exercise
Please refer to your Workshop Supplement:
Workshop 6B: Hysteresis under Uniaxial tension loading

32

2015 ANSYS, Inc.

May 27, 2015

Workshop Exercise
Please refer to your Workshop Supplement:
Workshop 6C: Permanent Set in O-ring

33

2015 ANSYS, Inc.

May 27, 2015

D. Shape Memory Alloy (SMA)

Shape memory alloy (SMA) "remembers" its original, cold-forged shape,
returning to the pre-deformed shape when heated.
- Can undergo large deformation without showing residual strains .
It has many applications in industries including medical and aerospace.

www.jmmedical.com

Nitinol (Nickel-Titanium alloy) is a type of shape memory alloy (SMA)

used in eyeglass frames, antennas, couplings, actuators, medical retrieval
devices and inserts
34

2015 ANSYS, Inc.

May 27, 2015

... Shape Memory Alloy (SMA)

Two phases, austenite and martensite, are present in Nitinol:

Austenite is usually stable at low stress

values and high temperatures

Martensite is generally stable at high stress

values and low temperatures

Martensite plates are formed within the austenite phase. The formation of these
martensite plates generally do not involve dislocation motion or diffusional flow

Consider the case of an elevated temperature where only austenite exists at the stressfree state. If a material is loaded, the higher stress induces a phase change to
martensite (path ABC). Unloading will result in a reverse transformation from
martensite back to austenite with hysteresis (path CDA). This is the superelastic effect.

35

2015 ANSYS, Inc.

May 27, 2015

... Shape Memory Alloy (SMA)

Two SMA simulation options available:

Superelasticity - Phase transformation is based on stress only.

Although constants can be temperature-dependent, superelastic
effects are usually considered in the context of an isothermal
process.

Shape memory effect - original shape restored after a thermal cycle.

Also due to a phase transformation between martensite and
austenite.
Initial spacer

Implanted in the spine

Compression

Complete implant

36

2015 ANSYS, Inc.

May 27, 2015

Heating
residual strain
recovery

Remove loading
elastic recovery

... SMA Superelasticity

The SMA Superelasticity model makes the following assumptions:

Phase transformation is based on stress only. Although constants can be

temperature-dependent, superelastic effects are usually considered in the context of
an isothermal process.

Accounts for austenite to martensite (AS) and martensite to austenite (SA) phase
transformations.

Isotropic, rate-independent, and without inelastic strains.

The elastic modulus, Poissons ratio, and coefficient of thermal expansion are
assumed to be the same for the fully transformed austenite and martensite phases.

37

2015 ANSYS, Inc.

May 27, 2015

... SMA Superelasticity

The SMA Superelasticity material model keeps track of the
fraction of austenite xA and martensite xS present.

xS x A 1

xS xA 0

The sum should equal 1 (i.e., 100%)

Superscripts AS designate the austenite-to-martensite

transformation (and SA the reverse), the fraction rates can be
expressed as:

The first two equations reflect that fraction rate of one phase is
based on the fraction rate during either transformation process
(SA or AS).

Remaining equations indicate that a fraction rate of one phase must

equal the other.

38

2015 ANSYS, Inc.

May 27, 2015

xS xSAS xSSA
xA xAAS xASA
x AS x AS
A

xASA xSSA

... SMA Superelasticity

Although the transformation is assumed to be fully recoverable, the SMA
superelasticity equations are developed similar to plasticity models

The transformation strains are considered separately, analogous to how inelastic

strains are considered in plasticity.

The transformation function is defined as follows:

F q 3ap
where q is the deviatoric stress, p is the hydrostatic pressure, and a is
a material parameter.

This transformation function is used for both transformation processes (SA or

AS), so no superscript will be used.

Note the similarity with Drucker-Prager

39

2015 ANSYS, Inc.

May 27, 2015

FDP q 3bp s eqv

... SMA Superelasticity

The evolution of the martensite phase is expressed as:

F
AS
AS
xS H 1 x S
F s fAS 1 a
for AS transformation with HAS defined as:
H AS

s sAS 1 a F s fAS 1 a
1 if

F 0
0 otherwise

where sASs and sASf are both material parameters.

An analogous relationship exists for SA transformation:
xSSA H SA x S

H SA
40

2015 ANSYS, Inc.

May 27, 2015

F s SA
f 1 a

SA

s SA
f 1 a F s s 1 a
1 if

F 0
0 otherwise

... SMA Superelasticity

Stress-strain relationship of SMA Superelasticity :

The first slope (green)

is the 100% austenite phase and

is described by elastic modulus

Transformation starts at a stress

sASs

level
and ends at
100% is martensite.

sASf

when

sASf
sASs

The last slope (purple)

is the 100% martensite phase
and is also the elastic modulus

41

2015 ANSYS, Inc.

May 27, 2015

eL

... SMA Superelasticity

The unloading response is similar:

At 100% martensite, the transformation

starts when the stress goes below sSAs.

The transformation back to 100% austenite
is complete at sSAf.

All strains are recovered for this isothermal

sSAs
sSAf

process.
eL

The material parameter eL describes the maximum amount of transformation

42

strain.
For Nitinol, this is typically between 0.07 and 0.10 (7-10%).
The material parameter a discussed earlier affects the material response in tension
and compression.
If tensile and compressive behaviors are the same, a=0.
For Nitinol, this is usually taken to be around 0-0.1.

2015 ANSYS, Inc.

May 27, 2015

... SMA Superelasticity

The SMA Superelasticity option is available from the Engineering Data

43

2015 ANSYS, Inc.

May 27, 2015

... SMA Superelasticity

Youngs modulus and Poissons ratio are
required for this material model

As noted earlier, this input describes the

mechanical behavior of the austenite and
martensite phases

The SMA parameters can then be input

The first four constants describe the starting

and final stress values of transformation

The epsilon value is the maximum

transformation strain

The alpha value affects the compressibility of transformation strain (i.e., degree of
which transformation strains are dependent on hydrostatic pressure)
This parameter also produces different response in tension and compression

44

2015 ANSYS, Inc.

May 27, 2015

... SMA Shape Memory Effect

The SMA - Shape memory effect is based on a 3-D thermo-mechanical model
for stress-induced solid phase transformations.
The governing equations are derived from an expression for free energy
potential defined as:

45

2015 ANSYS, Inc.

May 27, 2015

... SMA Shape Memory Effect

Where:

D M aterial elastic stiffness tensor

e Total Strain

etr Total Transformation Strain

etr' Deviatoric Transformation Strain
(T) b (T - To) , a postive montonically
M

increasing function of the temperature

Ietr ' (etr' ) indicator function introduced to satisfy
the constraint on transformation norm

46

2015 ANSYS, Inc.

May 27, 2015

b M aterial Parameter
T Temperature
To Temperature which no twinning martensite
is observed
h material parameter related to the hardening
of the material during phase transformation

... SMA Shape Memory Effect

Taking the derivative of the free potential energy wrt deviatoric
transformation strain, we arrive at an expression of the transformation
stress Xtr:

Where:

47

2015 ANSYS, Inc.

May 27, 2015

... SMA Shape Memory Effect

Numerous experimental tests show an asymmetric behavior of SMA in
tension and compression, and suggest describing SMA as an isotropic
material with a Prager-Lode-type limit surface.
Accordingly, the following yield criteria is assumed:

Where J2 and J3 are the second and third invariants of transformation

stress, m is a material parameter and R is the elastic domain radius.

48

2015 ANSYS, Inc.

May 27, 2015

... SMA Shape Memory Effect

The evolution of transformation strain is defined as:

Where: x is an internal variable (transformation strain multiplier).

x and F(Xtr) must satisfy the classical Kuhn-Tucker conditions
as follows:

49

2015 ANSYS, Inc.

May 27, 2015

... SMA Shape Memory Effect

Stresses, strains, and the transformation strains are then related as
follows:

The elastic stiffness tensor is a function of the transformation strain

defined as:

Where: DA is the elastic stiffness tensor of Austenite phase

DS is elastic stiffness of Martinsite phase
When the material is in its austenite phase, D = DA
When the material undergoes full transformation (martensite phase), D = DS.

50

2015 ANSYS, Inc.

May 27, 2015

... SMA Shape Memory Effect

Graphical illustration of Shape Memory Effect model:
The austenite phase is associated
with the horizontal region abcd.
Mixtures of phases are related to the
surface cdef.
The martensite phase is represented
by the horizontal region efgh.
Point c corresponds to the
nucleation of the martensite phase.
Phase transformations take place
only along line cf .

51

2015 ANSYS, Inc.

May 27, 2015

... SMA Shape Memory Effect

The shape memory effect option is defined by seven constants that
establish the stress-strain behavior of material in loading and unloading
cycles for the uniaxial stress-state and thermal loading.

h
To
R

b
eL

Em
m
SMA cannot be combined with other materials for the same material.

52

2015 ANSYS, Inc.

May 27, 2015