6/27/2021 2019 DSSIMULIA_Established - Integration of plasticity models

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Integration of plasticity models

This section discusses the backward Euler method, which is sometimes used for the Related Topics
integration of plasticity models in Abaqus.
The following topics are discussed: In Other Guides

Tangent matrix Inelastic behavior

Products: Abaqus/Standard Abaqus/Explicit

The plasticity models provided in Abaqus have been described in general terms in About plasticity models. The only rate
equations are the evolutionary rule for the hardening, the flow rule, and the strain rate decomposition.
The simplest operator that provides unconditional stability for integration of rate equations is the backward Euler method:
applying this method to the flow rule (Equation 5) gives

∂ gi
pl
Δε = ∑ Δλi , (1)
∂σ
i

and applying it to the hardening evolution equations, Equation 6, gives

ΔHi,α = Δλi hi,α . (2)

In these equations and throughout the remainder of this section any quantity not specifically associated with a time point is
taken at the end of the increment (at time t + Δt). The strain rate decomposition, Equation 2, is integrated over a time
increment as

el pl
Δε = Δε + Δε ,

where Δε is defined by the central difference operator:

⎡ ⎤
∂ Δx
Δε = sym ⎢ ⎥.
⎢ ⎥
1
⎣ ∂(xt + Δx) ⎦
2

We integrate the total values of each strain measure as the sum of the value of that strain at the start of the increment,
rotated to account for rigid body motion during the increment, and the strain increment. The rotation to account for rigid
body motion during the increment is defined approximately using the algorithm of Hughes and Winget (1980). This
integration allows the strain rate decomposition to be integrated into

el pl
ε = ε + ε . (3)

From a computational viewpoint the problem is now algebraic: we must solve the integrated equations of the constitutive
model for the state at the end of the increment. The set of equations that define the algebraic problem are the strain
decomposition, Equation 3; the elasticity, Equation 3; the integrated flow rule, Equation 1; the integrated hardening laws,
Equation 2; and for rate independent models, the yield constraints

fi = 0, (4)

for active systems (systems in which fi < 0 have Δλi = 0).

We assume that the flow surface is sufficiently smooth so that its (second) derivatives with respect to stress and the
hardening parameters are well-defined. This is generally true for the models in Abaqus: the exceptions occur at corners or
vertices of the surfaces. These special cases are handled individually when they arise.
For some plasticity models the algebraic problem can be solved in closed form. For other models it is possible to reduce the
problem to a one variable or a two variable problem that can then be solved to give the entire solution. For example, the
Mises yield surface—which is generally used for isotropic metals, together with linear, isotropic elasticity—is a case for which
the integrated problem can be solved exactly or in one variable (see Isotropic elasto-plasticity).
For other rate-independent models with a single yield system the algebraic problem is considered to be a problem in the
components of Δεpl . Once these have been found—the elasticity—together with the integrated strain rate decomposition—
define the stress. The flow rule then defines Δλ and the hardening laws define the increments in the hardening variables.
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We now derive the equations for the Newton solution of the integrated problem for the case of rate-independent plasticity
with a single yield system. The rate-dependent problem with a single yield system is solved in a similar way. For the
particular cases of multiple, independent, yield systems (concrete and jointed material) particular techniques are used for
this algebraic solution, taking advantage of the simplifications available in those particular models. The concrete model and
its integration are described in An inelastic constitutive model for concrete, and the jointed material model is described in
Constitutive model for jointed materials.
During the solution, the elasticity relationship and the integrated strain rate decomposition are satisfied exactly, so that

el
cσ = −D : cε , (5)

where cσ is the correction to the stress, cε is the correction to the plastic strain increments, and

2
∂ U
el
D =
el el
∂ε ∂ε

is the tangent elasticity matrix.

The hardening laws are also satisfied exactly (because the increments of the hardening parameters are defined from these
laws) so that

∂ hα ∂ hα
cα = hα cλ + Δλ ( : cσ + cβ ) ,
∂σ ∂ Hβ

where cα is the correction to ΔHα and cλ is the correction to Δλ.

This set of equations can be rewritten

cα = Ĥ α cλ + ŵ α : cσ , (6)

where

−1
∂ hβ
Ĥ α = [δαβ − Δλ ] hβ
∂ Hα

and

−1
∂hβ ∂hβ
ŵ α = Δλ[δαβ − Δλ ] .
∂Hα ∂σ

The flow rule is not satisfied exactly until the solution has been found, so it gives the Newton equations

2 2
∂g ∂ g ∂ g ∂g
pl
cε − c λ − Δλ ( : cσ + cα ) = Δλ − Δε .
∂σ ∂σ∂σ ∂ σ ∂ Hα ∂σ

Using Equation 5 and Equation 6 allows these equations to be rewritten as

∂g
el pl
[I + Δλ N̂ : D ] : cε − n̂cλ = Δλ − Δε , (7)
∂σ

where

2 2
∂ g ∂ g
N̂ = + ŵ α ,
∂σ∂σ ∂ σ ∂ Hα

and

2
∂g ∂ g
n̂ = + Δλ Ĥ α
.
∂σ ∂ σ ∂ Hα

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6/27/2021 2019 DSSIMULIA_Established - Integration of plasticity models
Likewise, the yield condition is not satisfied exactly during the Newton iteration, so

∂f ∂f
: cσ + cα = −f .
∂σ ∂ Hα

Using Equation 5 and Equation 6 in this equation gives

∂f
el
m̂ : D : cε − Ĥ α cλ = f, (8)
∂ Hα

where

∂f ∂f
m̂ = + ŵ α .
∂σ ∂ Hα

We now eliminate cλ between Equation 7 and Equation 8. Taking Equation 7 along m̂ : D

el
and using Equation 8 gives

1 1 ∂g 1
el el el pl
cλ = Δλ m̂ : D : N̂ : D : cε − m̂ : D : (Δλ − Δε ) + f,
d d ∂σ d

where

∂f
el
d = m̂ : D : n̂ − Ĥ α.
∂Hα

Using this equation in Equation 7 then gives

∂g 1
el pl
[I + Δλ Z : N̂ : D ] : cε = Z : (Δλ − Δε ) + f n̂,
∂σ d

where

1
el
Z = I − n̂ m̂ : D ,
d

which is a set of linear equations solved for the cε . The solution is then updated and the Newton loop continued until the
flow equation and yield constraint are satisfied.
The solution for rate-dependent plasticity models with a single yield function is developed in the same way, the only
differences being the lack of a yield constraint and the identification of Δλ with time.

Tangent matrix
The tangent matrix for the material, ∂ σ/ ∂ ε, is required when Abaqus/Standard is being used for implicit time
integration and Newton's method is being used to solve the equilibrium equations. The matrix is obtained directly by
taking variations of the integrated equations with respect to all solution parameters, and then solving for the relationship
between σ and ε. The procedure closely follows the derivation used above for the Newton solution: the result is the
tangent matrix

σ = D : ε,

where

−1
el el
D = [I + Δλ D : Z : N̂ ] : D : Z.

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