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This volume will consider each of the above types of problems and formulations
which make practical finite element solutions feasible. We establish in the present chapter the general formulation for both static and transient problems of a non-linear kind.
Here we show how the linear problems of steady state behaviour and transient behaviour discussed in Volume 1 become non-linear. Some general discussion of transient
non-linearity will be given here, and in the remainder of this volume we shall primarily
confine our remarks to quasi-static (i.e. no inertia effects) and static problems only.
In Chapter 2 we describe various possible methods for solving non-linear algebraic
equations. This is followed in Chapter 3 by consideration of material non-linear
behaviour and the development of a general formulation from which a finite element
computation can proceed.
We then describe the solution of plate problems, considering first the problem of thin
plates (Chapter 4) in which only bending deformations are included and, second, the
problem in which both bending and shearing deformations are present (Chapter 5).
The problem of shell behaviour adds in-plane membrane deformations and curved
surface modelling. Here we split the problem into three separate parts. The first, combines simple flat elements which include bending and membrane behaviour to form a
faceted approximation to the curved shell surface (Chapter 6). Next we involve the
addition of shearing deformation and use of curved elements to solve axisymmetric
shell problems (Chapter 7). We conclude the presentation of shells with a general
form using curved isoparametric element shapes which include the effects of bending,
shearing, and membrane deformations (Chapter 8). Here a very close link with the full
three-dimensional analysis of Volume 1 will be readily recognized.
In Chapter 9 we address a class of problems in which the solution in one coordinate
direction is expressed as a series, for example a Fourier series. Here, for linear
material behavior, very efficient solutions can be achieved for many problems.
Some extensions to non-linear behaviour are also presented.
In the last part of this volume we address the general problem of finite deformation
as well as specializations which permit large displacements but have small strains. In
Chapter 10 we present a summary for the finite deformation of solids. Basic relations
for defining deformation are presented and used to write variational forms related to
the undeformed configuration of the body and also to the deformed configuration. It
is shown that by relating the formulation to the deformed body a result is obtain
which is nearly identical to that for the small deformation problem we considered
in Volume 1 and which we expand upon in the early chapters of this volume. Essential
differences arise only in the constitutive equations (stress-strain laws) and the
addition of a new stiffness term commonly called the geometric or initial stress
stiffness. For constitutive modelling we summarize alternative forms for elastic and
inelastic materials. In this chapter contact problems are also discussed.
In Chapter 11 we specialize the geometric behaviour to that which results in large
displacements but small strains. This class of problems permits use of all the constitutive equations discussed for small deformation problems and can address classical
problems of instability. It also permits the construction of non-linear extensions to
plate and shell problems discussed in Chapters 4-8 of this volume.
In Chapter 12 we discuss specialization of the finite deformation problem to
address situations in which a large number of small bodies interact (multiparticle
or granular bodies) or individual parts of the problem are treated as rigid bodies.
and displacements as
+ b, = piii,
i ,j = 1 , 2 , 3
(1.3)
where aii are components of (Cauchy) stress, p is mass density, bj are body force
components and (') denotes partial differentiation with respect to time. In the
above, and in the sequel, we always use the convention that repeated indices in a
term are summed over the range of the index. In addition, a partial derivative with
respect to the coordinate xi is indicated by a comma, and a superposed dot denotes
partial differentiation with respect to time. Similarly, moment equilibrium (balance
of angular momentum) yields symmetry of stress given indicially as
ff..
'I
= ff..
(1.4)
.I'
Equations (1.3) and (1.4) hold at all points xi in the domain of the problem R. Stress
boundary conditions are given by the traction condition
tI. = ff..n.
= t.
(13)
J ' J
I
for all points which lie on the part of the boundary denoted as r r .
A variational (weak) form of the equations may be written by using the procedures
described in Chapter 3 of Volume 1 and yield the virtual work equations given by'.8.9
In the above Cartesian tensor form, virtual strains are related to virtual displacements
as
=
+ "J 1 )
(1.7)
In this book we will often use a transformation to matrix form where stresses are
given in the order
= [ffll
ff22
O33
ff12
gz?
OYJ
ff23
ff31
1'
T
= [ G x
0).
ff,;
(1.8)
ffz,]
and strains by
where symmetry of the tensors is assumed and 'engineering' shear strains are
introduced as*
Ti, = 2EiI
(1.10)
to make writing of subsequent matrix relations in a consistent manner.
The transformation to the six independent components of stress and strain is
performed by using the index order given in Table 1.1. This ordering will apply to
* This form is necessary to allow the internal work always to be written a s cTs
Index value
Matrix
Tensor(l.2,3)
11
2
22
3
33
4
12
21
6
31
XY?'
5
23
32
J'r
Tensor (.Y.J'.z)
.Y.Y
yy
:z
VY
3)'
.Y:
13
?.Y
many subsequent developments also. The order is chosen to permit reduction to twodimensional applications by merely deleting the last two entries and treating the third
entry as appropriate for plane or axisymmetric applications.
In matrix form, the virtual work equation is written as (see Chapter 3 of Volume 1)
x(S) = N(6)x
(1.13)
(1.14)
in which the three-dimensional strain-displacement matrix is given by [see Eq. (6.1 l),
Volume 11
(1.15)
M
f
JI!
NTpN dR
= jnNTbdfl
(1.17)
.I
NTtdr
r r
* For simplicity we omit direct damping which leads to the term Cu (see Chapter 17, Volume I )
(1.18)
and
P(o) =
In
BTodR
(1.19)
The term P is often referred to as the stress divergence or stress force term.
In the case of linear elasticity the stress is immediately given by the stress-strain
relations (see Chapter 2, Volume 1) as
(T
= DE
(1.20)
when effects of initial stress and strain are set to zero. In the above the D are the usual
elastic moduli written in matrix form. If a displacement method is used the strains are
obtained from the displacement field by using
E =
BU
(1.21)
P(o) =
BTDBdo)
= Ku
(1.22)
(1.23)
= C(E)
quite generally and that the functional relationship can be very non-linear and
occasionally non-unique. Furthermore, it will be necessary to use a mixed approach
if constraints, such as near incompressibility, are encountered. We address this latter
aspect in Sec. 1.2.4; however, before doing so we consider first the manner whereby
solution of the transient equations may be computed by using step-by-step time
integration methods discussed in Chapter 18 of Volume 1.
and now the equilibrium equation (1.16) at each discrete time t,,
residual form as
Qn+l = f , + l
M4l.I
P,+l
=0
may be written in a
( 1.24)
(1.25)
Using the GN22 formulae, the discrete displacements, velocities, and accelerations
are linked by [see Eq. (18.62), Volume 11
un+l = u , + a t U , + ; ( l
U, + 1
= U,
+ (1 -
-/32)At2iin+92At2iin+,
P I ) Alii,
PI
Alii, + 1
(1.26)
(1.27)
( 1.29)
where du: is an increment to the solution* such that
Uk+l - k
n+ 1
- UP,+ 1
+ dunk
(1.30)
For problems in which path dependence is involved it is necessary to keep track of the
total increment during the iteration and write
,+,
Uk + 1 = U,
+ Aut''
(1.31)
Thus the total increment can be accumulated by using the same solution increments as
Au:'
= u:
u,, = Auk
+ du:
- Note that an italic 'd'is used for a solution increment and an upright 'd' for a differential.
(1.32)
giving also
Aui
=0
(1.33)
k -I
(KT)
k
*l7+I
(1.34)
K;
-~
dun+ I
From expressions (1.24) and (1.26) we note that the above equations can be rewritten
as
We note that the above relation is similar but not identical to that of linear elasticity. Here D! is the tangent modulus matrix for the stress-strain relation (which
may or may not be unique but generally is related to deformations in a nonlinear manner).
Iteration continues until a convergence criterion of the form
(1.35)
or similar is satisfied for some small tolerance E . A good practice is to assume the
tolerance at half machine precision. Thus, if the machine can compute to about 16
digits of accuracy, selection of E = lo-' is appropriate. Additional discussion on
selection of appropriate convergence criteria is presented in Chapter 2.
Various forms of non-linear elasticity have in fact been used in the present context
and here we present a simple approach in which we define a strain energy W as a
function of E
W
= W(E) = W(E,)
dW
de
(1.36)
If the nature of the function W is known, we note that the tangent modulus D:
becomes
The algebraic non-linear solution in every time step can now be obtained by the
process already discussed. In the general procedure during the time step, we have
1
to take an initial value for u , ~ + for
~ , example, u , + ~= u, (and similarly for u , + l
and ii17+])and then calculate at step 2 the value of
at k = 1, and obtain
solution for steady state problems proceeds on identical lines with solution variable
chosen as u,,+ but now we simply say u,?+ = tif7+ = 0 as well as the corresponding
terms in the governing equations.
(1.37)
I,, (SU)
+ f mE,
(1.38)
= Id6
+ mp
(1.39)
where 6 is the set of stresses deduced directly from the strains, incremental strains, or
strain rates, depending on the particular constitutive model form. For the present we
shall denote this stress by
6 = IS(&)
( I .40)
where we note it is not necessary to split the model into mean and deviatoric parts.
The Galerkin (variational) equations for the case including transients are now
given by
p]dfl=O
6p[mT(Su) - E,] dR
(1.41)
=0
u M u = N,U,
and
p M p = NPp
and similar approximations to virtual quantities as
6u
Si = Nu&,
6p = 6p = Np6p
and
E, M E,
= N,E,
6 ~ , 62, = N,6E,
= IdBU +fmN,E,,
6~= Id B 6U + f mN,SE,
( 1.42)
= Id8
+ mN,p
(1.43)
where again 6 are stresses computed as in Eq. (1.40) in terms of the strains E .
Substituting the element stress and strain expressions from Eqs (1.42) and (1.43)
into Eq. (1.41) we obtain the set of finite element equations
P+MU=f
Pp - cp = 0
-CTE,
+ EU = 0
( 1.44)
where
P=
Jn B T c d R ,
P, =
E=
+ J N:mTirdR
n
Jn
N,m
BdR
(1.45)
If the pressure and volumetric strain approximations are taken locally in each
element and N, = N, it is possible to solve the second and third equation of (1.44)
in each element individually. Noting that the array C is now symmetric positive
definite, we may always write these as
p = c - 1 P,
(1.46)
E, = C-'Eu = Wu
The mixed strain in each element may now be computed as
( 1.47)
where
B,
= N,W
( 1.48)
'
'=I
BTcdR
(1
(1.49)
The computation of P may then be represented in a matrix form as
(1 S O )
in which we note the inclusion of the transpose of the matrices appearing in the
expression for the mixed strain given in Eq. (1.47). Based on this result we observe
that it is not necessary to compute the true mixed stress except when reporting
final results where, for situations involving near incompressible behaviour, it is crucial
to compute explicitly the mixed pressure to avoid any spurious volumetric stress
effects.
The last step in the process is the computation of the tangent for the equations. This
is straightforward using forms given by Eq. (1.40) where we obtain
dir
DTd&
Use of Eq. (1.47) to express the incremental mixed strains then gives
(1.51)
It should be noted that construction of a modified modulus term given by
requires very few operations because of the sparsity and form of the arrays In and m.
Consequently, the multiplications by the coefficient matrices B and B, in this form is
far more efficient than constructing a full B as
B=IdB+fmB,
(1.53)
[1
<
771
or
[1
-Y
1.1
77
<]
or
[l
.Y
z]
The elements created by this process may be used to solve a wide range of problems in
solid mechanics, as we shall illustrate in later chapters of this volume.
arising from finite deformation. In Volume 3 non-linear effects will be considered for
various fluid mechanics situations. However, non-linearity also may occur in many
other problems and in these the techniques described in this chapter are still universally applicable. An example of such situations is the quasi-harmonic equation which
is encountered in many fields of engineering. Here we consider a simple quasi-harmonic problem given by (e.g. heat conduction)
p ~ $ VTq- Q(4)
(1.54)
with suitable boundary conditions. Such a form may be used to solve problems
ranging from temperature response in solids, seepage in porous media, magnetic
effects in solids, and potential fluid flow. In the above, q is a flux and generally this
can be written as
q = q(4,V4)= k ( A V4)V4
(1.55)
and is still valid if q and/or Q (and indeed the boundary conditions) are dependent on
4 or its derivatives. Introducing the interpolations
(1.56)
c&
(1.57)
P,($) = 0
where
C=
P,=
f
.I,
NTpcNdR
I!
(1.58)
NTqdR
NTQ($) dR
J'
NTq,ldT
Tu
I!
I =
4% + ( 1 - Q
+ Q&+
(1.59)
13
Once again we have the choice of using &+ I or $ n + as the primary solution variable. To this extent the process of solving transient problems follows absolutely the
same lines as those described in the previous section (and indeed in the previous
volume) and need not be further discussed. We note again that the use of
as
the chosen variable will allow the solution method to be applied to static or steady
state problems in which the first term of Eq. (1.54) becomes zero.
+,+,
dT
k-=-
a( T - T,)'
(1.60)
dn
with n # 1. Here (Y is a convective heat transfer coefficient and T, is an ambient
external temperature. We shall show two examples to illustrate the above.
The first concerns the freezing of ground in which the latent heat of freezing is
represented by varying the material properties with temperature in a narrow zone,
as shown in Fig. 1.1. Further, in the transition from the fluid to the frozen state a
variation in conductivity occurs. We now thus have a problem in which both matrices
C and P [Eq. (1 .58)] are variable, and solution in Fig. 1.2 illustrates the progression of
a freezing front which was derived by using the three-point (Lees) a l g ~ r i t h m l ~with
.'~
C = C,7and P = P,.
A computational feature of some significance arises in this problem as values of
the specific heat become very high in the transition zone and, in time stepping
can be missed if the temperature step straddles the freezing point. To avoid this
difficulty and keep the heat balance correct the concept of enthalpy is introduced,
defining
so
T
pcdT
(1.61)
Fig. 1.1 Estimation of thermophysical properties in phase change problems. The latent heat effect is approximated by a large capacity over a small temperature interval 2AT.
(1.62)
and the situation can become physically unstable with the computed temperature
rising continuously to extreme values. In Fig. 1.3 we show a transient solution of a
sphere at an initial temperature of T = 290 K immersed in a bath of 500 K. The solution is given for two values of the parameter bwith k = pc = 1, and the non-linearities
are now so severe that an iterative solution in each time increment is necessary. For
the larger value of b the temperature increases to infinite value in a$nite time and the
time interval for the computation had to be changed continuously to account for this.
The finite time for this point to be reached is known as the induction time and is shown
in Fig. 1.3 for various values of 8.
The question of changing the time interval during the computation has not been
discussed in detail, but clearly this must be done quite frequently to avoid large
changes of the unknown function which will result in inaccuracies.
Structural dynamics
Here the examples concern dynamic structural transients with material and geometric
non-linearity. A highly non-linear geometrical and material non-linearity generally
occurs. Neglecting damping forces, Eq. (1.16) can be explicitly solved in an efficient
manner.
If the explicit computation is pursued to the point when steady state conditions are
approached, that is, until ii = u z 0 the solution to a static non-linear problem is
obtained. This type of technique is frequently efficient as an alternative to the methods
-a
VI
.-
f3
+Ln
._
a,
cn
.-t
N
LL
'*!
c
LL
.-6
Fig. 1.3 Reactive sphere. Transient temperature behaviour for ignition (6 = 16) and non-ignition ( h = 2)
cases: (a) induction time versus Frank-Kamenetskii parameter; temperature profiles; (b) temperature profiles
for ignition (d = 16) and non-ignition (&= 2) transient behaviour of a reactive sphere.
described above a n d in Chapter 2 and has been applied successfully in the context of
finite differences under the name of dynamic relaxation for the solution of non-linear
static problems.
T w o examples of explicit dynamic analysis will be given here. The first problem,
illustrated in Plate 3, is a large three-dimensional problem and its solution was
obtained with the use of a n explicit dynamic scheme. In such a case implicit schemes
would be totally inapplicable and indeed the explicit code provides a very efficient
solution of the crash problem shown. It must. however. be recognized that such
Fig. 1.4 Crash analysis: (a) mesh at t = Oms; (b) mesh at t = 20ms;(c) mesh a t t = 40 ms.
final solutions are not necessarily unique. As a second example Figure 1.4 shows a
typical crash analysis of a motor vehicle carried out by similar means.
- structures
We have mentioned in Chapter 19, Volume 1, the essential problem involving interaction of the soil skeleton or matrix with the water contained in the pores. This
problem is of extreme importance in earthquake engineering and here again solution
Fig. 1.5 Retaining wall subjected to earthquake excitation comparison of experiment (centrifuge) and
calculations l a
20
References
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edition, 1969.
3. I.S. Sokolnikoff, The Mathenzatical Theory of Elasticity, McGraw-Hill, New York, 2nd
edition, 1956.
4. L.E. Malvern. Introduction to the Meclzanics o f a Continuous Medium, Prentice-Hall, Englewood Cliffs, NJ, 1969.
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