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Earls SSRC2007 Paper
Earls SSRC2007 Paper
Christopher J. Earls1
INTRODUCTION
1
Associate Professor, School of Civil & Environmental
Engineering, Cornell University, 220 Hollister Hall, Ithaca, New
York, 14853 cje23@cornell.edu
technique to problem types exhibiting other manifestations of
instability (e.g. limit point instability).
Since the analyses considered here are strictly static, time will be
used to denote an equilibrium point for the subject structure
within configuration space; corresponding with a certain load
level:
[K0] ≡ linear elastic stiffness matrix whose elements are
independent of the current structural configuration (thus no time
reference is needed as a left sub-script)
[τKσ] ≡ initial stress matrix dependent on the state of stress at
arbitrary time, τ. This matrix is populated with terms that include
linear and quadratic dependencies on the current displacement
field.
The sum of the foregoing two stiffness matrices is typically what
is referred to as the “tangent stiffness matrix” associated with a
specific equilibrium point in configuration space. Some readers
may be more familiar with the notion of the tangent stiffness
being associated with a Taylor series expansion of the internal
force vector about the current configuration during the solution,
while others may recognize it as emanating from the stationarity
of the total potential functional whose internal energy term
includes the influence of finite strains. While other options exist
for the population of the tangent stiffness matrix [Wood and
Schrefler 1978][Holzer et al. 1990][Chang and Chen 1986] the
former definition has emerged as the most dominant to date.
0T ≡ equilibrium configuration associated with the trivial case of
no external actions
tT ≡ equilibrium configuration associated with an intermediate
loading condition occurring between the unloaded condition and
the unstable condition
∆t ≡ denotes an incremental motion through configuration space,
along the equilibrium path
t + ∆tT ≡ equilibrium configuration associated with an intermediate
loading condition, occurring between the unloaded condition and
the unstable condition; that is arbitrarily close to configuration tT
Tcr ≡ equilibrium configuration at incipient instability
In the present discussion it will be helpful to define two applied
loading conditions that are used to reckon an assumed
characteristic change in the system stiffness. In general, the
applied load will be referred to as “P.”
{Pbaseline} ≡ the loading condition used to bring the structure to a
point in configuration space denoted by tT.
{Pcharacteristic} ≡ the loading condition resulting in the structure
assuming configuration t+∆tT
{Pcr} ≡ the critical load associated with the equilibrium
configuration at incipient instability, Tcr
The structural state may be characterized using tangent stiffness
measures defined according to the following.
[Kbaseline] ≡ the instantaneous stiffness of the structure arrived at
by retaining only the terms in a Taylor series expansion of the
load – deflection response of the structure about the point in
configuration space corresponding to the applied loading
{Pbaseline}.
[Kcharacteristic] ≡ the instantaneous stiffness of the structure arrived
at by retaining only the terms in a Taylor series expansion of the
load – deflection response of the structure about the point in
configuration space corresponding to the applied loading
{Pcharacteristic}.
Classical Formulation
The initial treatment of the finite element buckling analysis
appeared in the literature prior to the formal naming of the finite
element method [Gallagher et al. 1967]; this earliest reference
identified the approach as being based on the “discrete element
procedure.” In light of the foregoing, and based on a survey of
the literature, it appears that in the most commonly held
definition of the classical formulation for finite element buckling
analysis, the following problem is solved [Cook et al. 2002,
Holzer et al. 1990, Chang and Chen 1986, Brendel and Ramm
1980]
det([ 0T
] [
K0 + λ tT
])
Kσ = 0 (1)
Secant Formulation
The present discussion adopts the name “secant formulation” to
describe the variation of the finite element buckling problem that
is referred to variously as the “secant formulation” [Bathe and
Dvorkin 1983, ADINA 2006] and the “linear and nonlinear
analysis” [Holzer et al. 1990]. This problem is posed as
EXAMPLE PROBLEMS
( 0T
K0 + tT Kσ ){ t +∆t T } {
∆u = t +∆tT
}
R (5)
Where {∆u} are the incremental nodal displacements and {R} is
the residual vector representing the imbalance between the
internal forces at time t, and the desired load level associated
with some set of external forces. We may use the standard form
of the eigenvalue problem to compute eigenvalues, ωi, and
eigenvectors, φi, for the tangent stiffness matrix according to
( 0T
)
K0 + tT Kσ {φi } = ωi {φi } (6)
{ t + ∆tT
∆u = ∑ α i {φi };
} { t +∆t P} = ∑ ρi {φi } (8)
i i
ωi α i = λρi (9)
T
Limit point instability: ω1 = 0, and {φ1} {P} ≠ 0; (10)
T
Bifurcation instability: ω1 = 0, and {φ1} {P } = 0 (11)
Bifurcation instability
The following three cases are classical examples of bifurcations
instability in the sense of equation (11). Pre-buckling
deformations are small and thus the underlying assumptions, in
this regard, present in the linearized eigenvalue buckling
approach are valid.
rollerY
b a = 50”
b = 10”
t = 0.1”
simpleX E = 29,000 ksi
ν= 0.3
free
a
since a>b
Y, u2
and b>>t
then
k = 0.425
X, u1 η=1
pinY
Boundary Conditions:
Free? u1 u2 u3 ur1 ur2 ur3
rollerY Y Y N Y N N
pinY Y N N Y N N
simpleX N Y N N Y N
free Y Y Y Y Y N
π 2E η (12)
σ cr = k 2
b
( )
12 1 − ν 2
t
Euler Column
Another classical example of bifurcation instability, where both
finite element buckling analysis methods work quite well, is the
case of the Euler column depicted in Figure 2.
Boundary Conditions:
Z, u3 b = 1” Free? u1 u2 u3 ur1 ur2 ur3
1”
L = 10”
1” I = 0.0833 roller N Y N Y N N
E = 29,000 ksi pin N N N Y N N Pcr
Y, u2
10”
π 2EI (13)
Pcr =
L2
which yields Pcr = 238 kips in the case of the proportions
described in Figure 2. This compares quite favorably with the
finite element buckling results presented in Table 2.
Toggle frame
Consider the toggle frame structure depicted in Figure 4. The
model created to treat this case is constructed using 5 Hermitian
beam elements per side of the framework.
b = 1” Boundary Conditions:
Pcr Free? u1 u2 u3
Span = 20”
Height = 2”
E = 29,000 ksi pin N N N
Y, u2 1” brace Y Y N
1”
LDC Pcr = 68 kips 2”
X, u1
20”
250.00
Applied load (kips)
200.00
150.00
100.00
50.00
0.00
0.00 0.50 1.00 1.50 2.00 2.50 3.00 3.50 4.00 4.50
-50.00
Vertical deflection (in.)
Figure 5. Equilibrium path for toggle frame example
The limit point instability response of the toggle frame case is
clearly visible in the depiction of the equilibrium path, as it is not
possible to resist increasing loads in the neighborhood of 0.5” in
vertical displacement without developing a large motion (a jump
of ≈2.75” in vertical deflection). We may now examine the
predictive capabilities of the two finite element buckling
approaches as applied to such limit point problems.
In the subsequent discussion, it will be useful to refer to a class
of diagrams known as eigenvalue plots [Brendel and Ramm
1980, Holzer et al. 1990]. Such a plot depicts a graph of Pcritical
versus Pbaseline (both normalized by dividing by the exact critical
load). An example of such a plot appears in Figure 6; as related
to the toggle frame example described in Figures 4 and 5.
1.6
1.4
1.2
1
λsecantPbase
0.8
0.6
0.2 Classical
Pbase Secant
0
0 0.2 0.4 0.6 0.8 1
For the case of the toggle frame structure from Figure 4, we may
study the finite element buckling predictions contained in Figure
6, and also in Table 3 below.
Truss Arch
Considering now the similar case of a truss arch, we may study
instances involving various height-to-span ratios. In all of the
following examples, the span length is held constant at 20” and
the height is varied from 2” to 25” (see Figure 7.)
1” height
X, u1
20”
Base Load
3 ADINA - classical
ADINA - secant
Hand Calculation
MASTAN2
2 ANSYS
0
0 0.2 0.4 0.6 0.8 1
4.5
Base Load
4 ADINA - classical
ADINA - secant
3.5 Hand Calculation
MASTAN2
3
2.5
1.5
0.5
0
0 0.2 0.4 0.6 0.8 1
This first point to consider is that since the truss arch is so deep,
the classical nonlinear snap-through equilibrium path actually
bifurcates into a sway mode prior to the attainment of the limit
load. Indeed when tracing the nonlinear equilibrium path in
ADINA using an incremental nonlinear finite element solution
approach, a negative eigenvalue appears in the global system
stiffness matrix at a load of 12,313 kips while the limit point is
only attained at a load level of 19,488 kips. Indeed, this
bifurcation point, corresponding to the sway mode, can be
readily observed if a tiny (fraction of an inch) imperfection in the
horizontal position of the loaded joint is used as an initial
imperfection in the structure. The truss-arch response for this
case appears in Figure 10.
20000
1st Negative eigenvalue
in LDC and buckling
15000
solution result
10000
Asymmetrical mode
5000
0
0 5 10 15 20 25 30 35
-5000
-10000
-15000
LDC-equilibrium trace
LDC - imperfection trace
-20000
0.8
0.6
0.4
Base Load
ADINA - classical
0.2 ADINA - secant
Hand Calculation
MASTAN2
0
0 0.2 0.4 0.6 0.8 1
CONCLUSIONS
Finite element buckling analysis results should be interpreted
with great care. The results of ostensibly identical formulations
(as described in theory manuals, etc.) within various software
packages, frequently lead to estimates of critical loads that vary
significantly for identical structural configurations.
Perhaps, given the ever increasing speed and core memory size
of desktop computers, stability analyses should be undertaken
within the context of incremental nonlinear finite element
solutions carried out using commercial software such as
ABAQUS and ADINA. However, even then, the results should be
interpreted with care, and by an analyst who is well versed in the
theoretic foundations of the method.
REFERENCES